Action governor for discrete-time linear systems with non-convex constraints

Nan Li; Kyoungseok Han; Anouck Girard; H. Eric Tseng; Dimitar Filev; Ilya Kolmanovsky

doi:10.1109/LCSYS.2020.3000198

Action governor for discrete-time linear systems with non-convex constraints

Nan Li, Kyoungseok Han, Anouck Girard, H. Eric Tseng, Dimitar Filev, Ilya Kolmanovsky

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

7 Scopus citations

Abstract

This letter introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This letter establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.

Original language	English
Article number	3000198
Pages (from-to)	121-126
Number of pages	6
Journal	IEEE Control Systems Letters
Volume	5
Issue number	1
DOIs	https://doi.org/10.1109/LCSYS.2020.3000198
State	Published - Jan 2021

Keywords

Autonomous systems
Collision avoidance
Predictive control
Vehicle safety

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10.1109/LCSYS.2020.3000198

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abstract = "This letter introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This letter establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.",

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author = "Nan Li and Kyoungseok Han and Anouck Girard and Tseng, \{H. Eric\} and Dimitar Filev and Ilya Kolmanovsky",

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AU - Filev, Dimitar

AU - Kolmanovsky, Ilya

PY - 2021/1

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N2 - This letter introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This letter establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.

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KW - Predictive control

KW - Vehicle safety

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Action governor for discrete-time linear systems with non-convex constraints

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