A Reference Governor Approach Towards Recovery from Constraint Violation
- Resource Type
- Conference
- Authors
- Osorio, Joycer; Santillo, Mario; Seeds, Julia Buckland; Jankovic, Mrdjan; Ossareh, Hamid R.
- Source
- 2019 American Control Conference (ACC) Control Conference (ACC), 2019 American. :1779-1785 Jul, 2019
- Subject
- Aerospace
Robotics and Control Systems
Reference governor
constraint violation
recovery
maximal output admissible set
disturbance observer
additive disturbances
- Language
- ISSN
- 2378-5861
This paper proposes a new formulation for the Reference Governor (RG) applied to linear systems affected by exogenous disturbances, specifically those large enough to cause constraint violation. This formulation is based on a set-theoretic approach which includes external disturbances within a new RG, that we call Recovery RG (RRG). The idea is to update the Maximal Output Admissible Set (MAS) and compute a constraint-admissible input that recovers the system from constraint violation at steady-state. The proposed RRG overcomes some of the limitations of standard RG schemes, and maintains their desirable features such as formulation simplicity and finite time determination of the MAS. We validate this new scheme by simulating a linearized turbocharged gasoline engine affected by additive disturbances.