Reference governor for constrained nonlinear systems
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The author considers the nonlinear system \[ \begin{cases} \dot x(t)= \Phi\bigl( x(t),w(t)\bigr)\\ y(t)=H\bigl(x(t), w(t)\bigr)\\ c(t)={x(t) \choose w(t)} \end{cases} \tag{1} \] The input \(w\) represents the signal to be tracked, and it is generated by a reference governor. Assume that a primal controller has been implemented in (1), in order to guarantee stability and nice tracking properties in the absence of constraints. The problem is how to modify the reference input so as to satisfy the constraint \(c(t)\in C\) \((C\) a given compact set) and to minimize the tracking error with respect to the desired reference trajectory. The proposed solution is inspired by the receding horizon approach. Modifications of the reference input take place at every time interval of length \(T\) \((T\) greater than the time needed for computation). Hence, this method gives rise to hybrid system, combining continuous time and discrete time features.
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- scientific article; zbMATH DE number 1417861
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