Robust Action Governor for Discrete-Time Piecewise Affine Systems With Additive Disturbances

被引：2
|
作者：
Li, Yutong [1 ]
Li, Nan [1 ]
Tseng, H. Eric [2 ]
Girard, Anouck [1 ]
Filev, Dimitar [2 ]
Kolmanovsky, Ilya [1 ]
机构：
[1] Univ Michigan, Dept Aerosp Engn, Ann Arbor, MI 48105 USA
[2] Ford Motor Co, Res & Adv Engn, Dearborn, MI 48126 USA
来源：
IEEE CONTROL SYSTEMS LETTERS | 2022年 / 6卷
关键词：
Additives; Monitoring; Safety; Predictive models; Optimization; Computational modeling; Companies; Constrained control; autonomous vehicles; switched systems; LINEAR-SYSTEMS; AVOIDANCE;
D O I：
10.1109/LCSYS.2021.3087627
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this letter, we introduce an extension of the Action Governor (AG), which is an add-on, supervisory scheme to a nominal control loop to enforce safety-related requirements. This extension enables AG design based on discrete-time piecewise affine (PWA) system models with additive set-bounded disturbance inputs and non-convex exclusion-zone avoidance constraints. We establish theoretical properties and computational approaches for this robust version of AG, and illustrate its application to an autonomous vehicle control problem.
引用
收藏
页码：950 / 955
页数：6
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