2021 American Control Conference (ACC) | 2021
Preview Reference Governors
Abstract
This paper presents a constraint management strategy based on Scalar Reference Governors (SRG) to enforce control, state, and output constraints while taking into account the preview information of the reference signals. The strategy, referred to as the Preview Reference Governor (PRG), can outperform SRG while maintaining the highly-attractive computational benefits of SRG. However, as it is shown, the performance of PRG may suffer if large preview horizons are used. An extension of PRG, referred to as Multi-horizon PRG, is proposed to remedy this issue. Quantitative comparisons between SRG, PRG, and Multi-horizon PRG on a vehicle rollover example are presented to illustrate their performance and computation time.