Reference governor for constrained systems with time-varying references

  • Authors:

  • Kiminao Kogiso;Kenji Hirata

  • Affiliations:

  • Department of Information Systems, Nara Institute of Science and Technology, Ikoma 630 0192, Japan;Department of Mechanical Engineering, Nagaoka University of Technology, Nagaoka 940 2188, Japan

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2009

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Abstract

This paper proposes constructing a reference governor for constrained linear systems with time-varying references. The main feature of the constructed reference governor is to simultaneously consider fulfillment of state and control constraints, as well as tracking performance by appropriately managing the reference to be inputted. To achieve constraint fulfillment and to evaluate tracking performance, the reference management is reduced into a convex quadratic programming problem using the concept of a maximal output admissible set. The reference governor is finally obtained in the form of a piecewise affine function of state and reference variables by means of a multi-parametric programming technique. In addition, the effectiveness of the reference governor is demonstrated by numerical and experimental examples of a practical DC position servomechanism with the control constraint.