Seminar Details
2017-04-21 (11:00) : It's not MPC ! Explicit Reference Governors for the supervision of constrained nonlinear systems
At Euler building (room A.002)
Organized by Mathematical Engineering
Speaker :
Emanuele Garone (ULB)
Abstract :
This talk introduces a control framework which dynamically modifies the reference of a pre-compensated nonlinear system so as to ensure the satisfaction of constraints, without resorting to online optimization. The basic ERG scheme is built translating state space constraints into a constraint on the Lyapunov function and limiting its value by modulating the velocity of the applied reference. The theory is introduced for general nonlinear systems subject to constraints and will be specialized to the large and highly relevant class of nonlinear systems admitting a Lyapunov function that is lower-bounded by a quadratic form. A complete generalization of the presented scheme will be also presented. Design and implementation aspects will be discussed as well.