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Action Governor for Discrete-Time Linear Systems with Non-Convex Constraints

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arxiv 2005.08358 v1 pith:3ZQTWBL3 submitted 2020-05-17 eess.SY cs.SYmath.OC

Nan Li , Kyoungseok Han , Anouck Girard , H. Eric Tseng , Dimitar Filev , Ilya Kolmanovsky This is my paper
classification eess.SYcs.SYmath.OC
keywords actiondiscrete-timegovernorlinearsystemsadd-onavoidancecomputational
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This paper introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This paper establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.

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