Action Governor for Discrete-Time Linear Systems With Non-Convex Constraints

被引：3

作者：

Li, Nan ^{[1
]}

Han, Kyoungseok ^{[2
]}

Girard, Anouck ^{[1
]}

Tseng, H. Eric ^{[3
]}

Filev, Dimitar ^{[3
]}

Kolmanovsky, Ilya ^{[1
]}

机构：

[1] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48105 USA

[2] Kyungpook Natl Univ, Sch Mech Engn, Daegu 41566, South Korea

[3] Ford Motor Co, Res & Adv Engn, Dearborn, MI 48126 USA

来源：

IEEE CONTROL SYSTEMS LETTERS | 2021年 / 5卷 / 01期

关键词：

Linear systems; Monitoring; Optimization; Control systems; Mobile robots; Computational modeling; Complexity theory; Autonomous systems; collision avoidance; predictive control; vehicle safety; INVARIANT-SETS;

D O I：

10.1109/LCSYS.2020.3000198

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 letter introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This letter establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.

引用

页码：121 / 126

页数：6

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