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Constrained Control of Nonlinear Systems: The Explicit Reference Governor and its Application to Unmanned Aerial Vehicles

par Nicotra, Marco
Président du jury Bogaerts, Philippe
Promoteur Garone, Emanuele
Co-Promoteur Naldi, Roberto
Publication Non publié, 2016-09-13

Thèse de doctorat

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Résumé :

This dissertation introduces the Explicit Reference Governor: a simple and systematic add-on control unit that provides constraint handling capabilities to any pre-stabilized nonlinear system by suitably manipulating its applied reference. The main innovation of the proposed framework is that constraint satisfaction is ensured without having to solve implicit equations. As a result, the Explicit Reference Governor is particularly well suited for applications with limited computational capabilities. The basic idea behind the scheme consists in manipulating the derivative of the applied reference so that, at any given time instant, the currently applied reference will not cause a violation of constraints anytime in the future. The theory behind the proposed framework is presented in general terms and is then detailed to provide specific design strategies. Possible extensions to ensure robustness are also proposed. In addition to introducing the general theory of the Explicit Reference Governor, the dissertation illustrates its step-by-step implementation on Unmanned Aerial Vehicles.