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A Reference Governor for Nonlinear Systems Based on Quadratic Programming

[+] Author Affiliations
Nan I. Li, Ilya Kolmanovsky, Anouck Girard

University of Michigan, Ann Arbor, MI

Paper No. DSCC2016-9786, pp. V001T02A005; 10 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5069-5
  • Copyright © 2016 by ASME


The reference governor modifies set-point commands to a closed-loop system in order to enforce state and control constraints. In this paper, we describe an approach to reference governor implementation for nonlinear systems, which is based on bounding (covering) the response of a nonlinear system by the response of a linear model with a set-bounded disturbance input. Such a design strategy is of interest as it reduces the online optimization problem to a convex quadratic programming (QP) problem with linear inequality constraints, thereby permitting standard QP solvers to be used. A numerical example is reported.

Copyright © 2016 by ASME



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