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arXiv · 2005.08358

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

Nan Li·Kyoungseok Han·Anouck Girard·H. Eric Tseng·Dimitar Filev·Ilya Kolmanovsky
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Abstract

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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Nan Li, Kyoungseok Han, Anouck Girard, H. Eric Tseng, Dimitar Filev, Ilya Kolmanovsky. 2020-05-17. Action Governor for Discrete-Time Linear Systems with Non-Convex Constraints. https://arxiv.org/abs/2005.08358

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