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Set-point control of nonlinear systems with state and control constraints: a Lyapunov-function, reference-governor approach

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2 Author(s)
Gilbert, E.G. ; Dept. of Aerosp. Eng., Michigan Univ., Ann Arbor, MI, USA ; Kolmanovsky, I.V.

Proposes an approach to reference governor design. As in the prior literature, the governor accepts input commands and modifies their evolution so that specified pointwise-in-time constraints on state and control variables are satisfied. The new approach has several important advantages: it applies to continuous-time nonlinear systems, the design process is based on families of Lyapunov functions, the governor has a relatively simple implementation, the underlying theory is simple and self-contained. Key issues related to reference governor implementation are discussed in a general way, including the description of hybrid reference governors that allow the set of command inputs to be nonconvex

Published in:

Decision and Control, 1999. Proceedings of the 38th IEEE Conference on  (Volume:3 )

Date of Conference:

1999