TR2018-079
Inner-Loop Reference Governor Design with an Application to Human-in-the-Loop Control
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- "Inner-Loop Reference Governor Design with an Application to Human-in-the-Loop Control", European Control Conference (ECC), DOI: 10.23919/ECC.2018.8550423, June 2018, pp. 1021-1026.BibTeX TR2018-079 PDF
- @inproceedings{Kalabic2018jun,
- author = {Kalabić, Uroš and Di Cairano, Stefano},
- title = {Inner-Loop Reference Governor Design with an Application to Human-in-the-Loop Control},
- booktitle = {European Control Conference (ECC)},
- year = 2018,
- pages = {1021--1026},
- month = jun,
- doi = {10.23919/ECC.2018.8550423},
- url = {https://www.merl.com/publications/TR2018-079}
- }
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- "Inner-Loop Reference Governor Design with an Application to Human-in-the-Loop Control", European Control Conference (ECC), DOI: 10.23919/ECC.2018.8550423, June 2018, pp. 1021-1026.
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MERL Contact:
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Research Area:
Abstract:
This paper presents a novel reference-governor based approach to enforcing constraints in open-loop systems, where the constraint enforcement scheme modifies a control signal from a feedback controller. The reference governor is not typically applicable to these systems, since reference governors modify reference signals, which are inputs to a feedback controller.
The design is based on duplicating the feedback controller of the closed-loop system and implementing a reference governor to modify the reference input to the duplicate controller. Effectively, this bypasses the nominal controller, whose internal dynamics may not be asymptotically stable. We present a method to ensure stability of the closed-loop system by ceding some control authority to the nominal controller.
A numerical example is considered in which the nominal controller is a human operator of a steer-by-wire system. The operator is modeled as a PID controller with unknown parameters. Results show that the inner-loop governor design is able to satisfactorily enforce constraints in such an application.
Related News & Events
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NEWS Uros Kalabic spoke on reference governors at the MSU Mechanical Engineering Seminar Date: February 12, 2019
Where: Michigan State University
MERL Contacts: Scott A. Bortoff; Stefano Di Cairano; Abraham Goldsmith
Research Areas: Control, Dynamical SystemsBrief- Uros Kalabic, of MERL's Control and Dynamical Systems group, gave a talk at the Michigan State University Mechanical Engineering Seminar. The talk, entitled "Reference governors: Industrial applications and theoretical advances," covered some of the exciting research being done at MERL on reference governors and briefly described MERL's other research areas. The abstract of the talk can be found via the link below.