Command governors for constrained nonlinear systems

Author

Angeli, David ; Mosca, Edoardo

Author_Institution

Dipt. di Sistemi ed Inf., Firenze Univ., Italy

Volume

44

Issue

4

fYear

1999

fDate

4/1/1999 12:00:00 AM

Firstpage

816

Lastpage

820

Abstract

A method is described for set-point tracking in nonlinear systems when pointwise-in-time input and/or state inequality constraints are to be enforced. It consists of adding to a primal compensated system a nonlinear device called command governor (CG) whose action is based on the current state, set-point, and prescribed constraints. The CG selects at any time the system input via a receding-horizon strategy from a virtual sequence amongst all possible command sequences by solving a constrained quadratic optimization problem. Provided that the initial state is admissible, the overall system is proved to fulfil the constraints and have desirable performance stability properties

Keywords

compensation; nonlinear control systems; predictive control; quadratic programming; stability criteria; CG; command governors; constrained nonlinear systems; constrained quadratic optimization problem; nonlinear device; performance stability; pointwise-in-time input inequality constraints; pointwise-in-time state inequality constraints; primal compensated system; receding-horizon strategy; set-point tracking; virtual sequence; Character generation; Constraint optimization; Constraint theory; Control systems; Feedback control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Predictive control; Stability;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.754825

Filename

754825