Avviso di Seminario "It’s not MPC ! An Explicit Reference Governor framework for the supervision of constrained nonlinear systems"

Martedì 5 dicembre 2017 alle ore 10:00 nell'aula seminari del DIMES, cubo 42c, V piano.

 

Title: It’s not MPC ! An Explicit Reference Governor framework for the supervision of constrained nonlinear systems. 

 

Abstract: This talk will introduce the Explicit Reference Governor (ERG). The ERG is an add-on component that can be connected to an existing closed loop system in order to provide it with constraint handling capabilities. This is achieved by manipulating the rate of change of the applied reference so that the transient dynamics  are guaranteed to remain within suitable bounds. The main novelty of the proposed framework is that it provides a systematic solution to enforce both state and input constraints without having to solve an online optimization problem. Due to its closed-form expression, the ERG can run on virtually any hardware, making it particularly well suited for applications with fast dynamics, limited computational capabilities, or strict regulations on code reliability.

 

Short Bio: Emanuele Garone received the Master degree (Laurea) and the Ph.D. degree in systems engineering from the University of Calabria, Rende, Italy, in 2005 and 2009, respectively. Since 2010 he is Associate Professor at the Control Design and System Analysis Department (SAAS), Université Libre de Bruxelles, Brussels, Belgium. His current research interests focus mainly on constrained control, networked control systems, and aerial robotics. In 2014 he received a honorable mention to the Young Author Prize of the 2014 IFAC World Congress.

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