Seminar 01/10/2019 : It's not MPC! Explicit Reference Governors, an alternative approach to the control of nonlinear systems with constraints

Speaker: Emanuele Garone (ULB)

Time and place: Tue, 01/10/2019, 10:00-11:00, ELEC seminar room

Absract: This talk introduces the Explicit Reference Governor, a novel control framework for the control of nonlinear systems subject to constraints. The main merit of this framework is that it allows to ensure systematically the satisfaction of constraints without resorting to any online optimization. The talk will start presenting the basic idea of Explicit Reference Governor based on Lyapunov level sets, and will present its generalization in terms of Dynamic Safety Margins and Navigation Fields. The talk will also present some constructive approach to design Explicit Reference Governors, and some applications to real systems.

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