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SUMMARY:It’s not MPC! An Explicit Reference Governor for the supervision
  of constrained nonlinear systems - Emanuele Garone\, Université Libre de
  Bruxelles
DTSTART:20160609T140000Z
DTEND:20160609T150000Z
UID:TALK65570@talks.cam.ac.uk
CONTACT:Tim Hughes
DESCRIPTION:This talk introduces a novel control law which dynamically mod
 ifies 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 o
 f the applied reference. The theory is introduced for general nonlinear sy
 stems subject to constraints and is then specialized to the large and high
 ly relevant class of nonlinear systems admitting a Lyapunov function that 
 is lower-bounded by a quadratic form. Some extension and implementation as
 pects will be discussed as well.
LOCATION:Cambridge University Engineering Department\, LR4
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