TR2018-079

Inner-Loop Reference Governor Design with an Application to Human-in-the-Loop Control


    •  Kalabić, U., Di Cairano, S., "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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  • Research Area:

    Control

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.

 

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