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A generalized reference governor for nonlinear systems

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

Reference governors are auxiliary systems that accept and, when needed, modify input commands to enforce pointwise-in-time state and control constraints. This paper proposes a new approach to reference governor design for nonlinear systems with unmeasured disturbance inputs. The approach relies on safety properties provided by sublevel sets of equilibria-parametrized functions. Unlike the prior literature, however, these functions need not be Lyapunov functions and the corresponding sublevel sets need not be positively invariant. Furthermore, the equilibria-parametrized functions need not be smooth, only continuous

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Decision and Control, 2001. Proceedings of the 40th IEEE Conference on  (Volume:5 )

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