Control of Euler-Lagrange systems subject to constraints: An Explicit Reference Governor approach

被引：0

作者：

Nicotra, Marco M. ^{[1
]}

Garone, Emanuele ^{[1
]}

机构：

[1] Univ Libre Bruxelles, Dept SAAS, 50 Av FD Roosvelt, B-1050 Brussels, Belgium

来源：

2015 54TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2015年

关键词：

PREDICTIVE CONTROL;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper develops an Explicit Reference Governor that provides constraint-handling capabilities to pre-stabilized Euler-Lagrange systems. Using passivity arguments, it is shown that the constraints on the state variables can be translated into constraints on the energy of the closed-loop system. These energy constraints can then be enforced in continuous-time by manipulating the velocity of the applied reference in a suitable manner. The effectiveness of the proposed theory is supported by numerical examples.

引用

页码：1154 / 1159

页数：6

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