TR2012-048

Further Developments and Applications of Network Reference Governor for Constrained Systems


    •  Di Cairano, S.; Kolmanovsky, I.V., "Further Developments and Applications of Network Reference Governor for Constrained Systems", American Control Conference (ACC), ISSN: 0743-1619, ISBN: 978-1-4577-1095-7, June 2012, pp. 3907-3912.
      BibTeX Download PDF
      • @inproceedings{DiCairano2012jun,
      • author = {{Di Cairano}, S. and Kolmanovsky, I.V.},
      • title = {Further Developments and Applications of Network Reference Governor for Constrained Systems},
      • booktitle = {American Control Conference (ACC)},
      • year = 2012,
      • pages = {3907--3912},
      • month = jun,
      • issn = {0743-1619},
      • isbn = {978-1-4577-1095-7},
      • url = {http://www.merl.com/publications/TR2012-048}
      • }
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Fig. 5. The response of the appendage deflection x2 for the long time delay case.

This paper develops further the network reference governor, which is a predictive algorithm for modifying commands sent to the remote system to satisfy state and control constraints. Due to the network communication, the governor must account for a delay that can be time-varying and unknown. The paper summarizes the results on network reference governor theory, and demonstrate its operation on a case study of a attitude control of a spacecraft with a very flexible appendage, where the commands are transmitted remotely over a network to the spacecraft, and hence delayed by a bounded, unknown delay. In this case study, the reference governor ensures that the elastic deflections of the appendage and the control signal satisfy the imposed limits while the spacecraft performs a reorientation maneuver. The paper then presents the novel theoretical construction of a less conservative network reference governor for the case when the delay is long but only slowly time-varying, with known bounds on the rate of change. A spacecraft relative motion control example with constraints on thrust and Line Of Sight (LoS) cone positioning is considered to illustrate these theoretical developments.