Action Governor for Discrete-Time Linear Systems with Non-Convex Constraints

TL;DR

This paper presents an Action Governor scheme for discrete-time linear systems that enforces non-convex constraints by minimally adjusting control signals using set-theoretic and optimization methods, with theoretical and simulation validation.

Contribution

It introduces a novel supervisory Action Governor scheme for enforcing non-convex constraints in linear systems, combining set-theoretic and optimization techniques.

Findings

Effective enforcement of exclusion zones demonstrated in simulations

Theoretical foundation established for the Action Governor scheme

Computational methods for real-time implementation discussed

Abstract

This paper introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This paper establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.