Abstract:

This paper proposes a switched reference governor (RG) algorithm to achieve rapid and non-oscilliatory convergence to a given reference signal while satisfying the imposed constraints by switching between a fast and oscilliatory controller and a slow and non-oscilliatory controller. The switched RG first computes the set of the pairs of state and its admissible references for both controllers in an offline fashion. For the online computation, at each iteration, the proposed algorithm computes the admissible reference sets for each controller at the current state. Then, the algorithm activates one of the controllers based on the closeness between the system state and the reference. At last, a lightweight optimization problem to find the admissible reference that is closest to the reference signal is solved and the solution, which is referred to as virtual reference, is applied to the control system as the reference signal. Through measuring the closeness between the system state and the reference by a Lyapunov function and a discrete-time hybrid system model, we show robust switching, recursive feasibility and convergence of the virtual reference to the reference sig