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

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If you have a question about this talk, please contact Tim Hughes .

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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 CUED Control Group Seminars series.

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