It's not MPC ! An Explicit Reference Governor for the supervision of constrained nonlinear systems

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• Emanuele Garone, Université Libre de Bruxelles
• Monday 07 March 2016, 14:00-15:00
• CAP Seminar Room .

If you have a question about this talk, please contact David Angeli.

This talk introduces a novel control law which dynamically modifies the reference of a pre-compensated nonlinear system so as to ensure the satisfaction of constraints, without resorting to online optimization. This is done by 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 is then specialized to the large and highly relevant class of nonlinear systems admitting a Lyapunov function that is lower-bounded by a quadratic form. Some extension and implementation aspects will be discussed as well.

This talk is part of the Control and Power Seminars series.

This talk is included in these lists:

• Andrea Picciau's list
• CAP Seminar Room
• Control and Power Seminars

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