PROJECT TITLE :

Explicit Reference Governor for Constrained Nonlinear Systems

ABSTRACT:

This technical note introduces a unique management law that dynamically modifies the reference of a pre-compensated nonlinear system to confirm the satisfaction of constraints. This is finished by translating the state area constraints into an upper sure on the worth of the Lyapunov perform and by manipulating the velocity of the applied reference to enforce this bound. The main advantage of this approach is that it systematically provides a closed-form control law ready to enforce constraints. 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 operate lower-bounded by a quadratic type and subject to linear constraints. Numerical simulations show the effectiveness of the proposed method.