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This manuscript presents a scheme for the constrained control of a dual-stage system used in precision manufacturing. The system consists of two stages, a fast and a slow stage, whose actuators have different bandwidths. The fast stage is primarily constrained in its range of operation, and the slow stage is primarily constrained in allowable velocity and acceleration. The constrained control is based...
The paper considers formulations of constrained model predictive control (MPC) problems for systems with dynamics defined on smooth manifolds. Generalizations of conventional nonlinear MPC stabilization techniques based on the terminal set and terminal penalty approaches are presented based on recent work by the authors. The significance of the results includes the possibility of systematically generating...
For stabilizing model predictive control adjusting the prediction model requires the adjustment of the terminal set and terminal cost. However, the conventional methods to design these are not practical, and often impossible, to implement in microcontrollers. In this paper, we pre-compute the terminal cost and terminal set in a form that allows to adjust them with minimal computational effort, following...
For a closed-loop system composed of a linear controlled plant and an MPC feedback strategy we show how to verify that closed-loop state trajectories either enter or avoid a given set of unsafe states. The search for the safety certificate is formulated as a mixed-integer linear programming problem which yields non-conservative certificates. The optimal control commands generated by the MPC policy...
This paper provides a tutorial overview of reference governors and command governors, which are add-on control schemes for reference supervision and constraint enforcement in closed-loop feedback control systems. The main approaches to the development of such schemes for linear and nonlinear systems are described. The treatment of unmeasured disturbances and parametric uncertainties is addressed....
This paper proposes a dynamic controller structure and a systematic design procedure for stabilizing discrete-time hybrid systems. The proposed approach is based on the concept of control Lyapunov functions (CLFs), which, when available, can be used to design a stabilizing state-feedback control law. In general, the construction of a CLF for hybrid dynamical systems involving both continuous and discrete...
The coordination of multiple constrained actuators is relevant to several practical systems, including those in automotive and aerospace applications. Often, the usage of a specific group of actuators is to be minimized either because of its operating cost or because of undesired side-effects. In some cases, controllers for each actuator are already available and rather than redesigning the whole...
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