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Reference governors for systems with polynomial constraints: theory and extensions

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Title
Reference governors for systems with polynomial constraints: theory and extensions
Name (type = personal)
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Schieni
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Rick
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Rick Schieni
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author
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Burlion
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Laurent
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Laurent Burlion
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Advisory Committee
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chair
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Baruh
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Haim
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Haim Baruh
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Advisory Committee
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member
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Yi
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Jingang
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Jingang Yi
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Advisory Committee
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member
Name (type = personal)
NamePart (type = family)
Kolmanovsky
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Ilya
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Ilya Kolmanovsky
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Advisory Committee
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member
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Rutgers University
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degree grantor
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NamePart
School of Graduate Studies
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Text
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theses
OriginInfo
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2023
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2023-01
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2023
Language
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English
Abstract (type = abstract)
Controls engineering focuses around the design of processes which ensure the system to be controlled is stable, can track some desired performance, and can reject disturbances. A great number of effective control techniques have been developed which focus on the transient response of the system however, many of these control schemes do not take system constraints, such as actuator saturation, into account. With techniques established which produce a satisfactory transient response of the system, it is desired to preserve the response of the original control technique while ensuring the constraints on the system are satisfied. This desire has led to the development of the reference governor add-on schemewhich modifies the reference signal to a pre-existing nominal controller to ensure system constraints are satisfied. In this work, a reference governor add-on scheme is designed for linear systems subject to polynomial constraints. The system state vector is first augmented with the reference governor signal to create the augmented state vector. Employing the Kronecker product allows one to derive an extended state vector which encapsulates the higher order powersof the original augmented state. With the higher order powers integrated into the extended state, the polynomial constraints can be written as linear constraints in terms of the new base vectors. It is shown that the Maximal Output Admissible Set (MOAS) for the extended system is finitely determined and the MOAS for the original system is a cross section of the MOAS computed for the extended system. The methodology presented to handle linear systems subject to polynomial constraints is then extended to handle systems subject to external disturbances and parametric uncertainties. Exploiting the convexity of the problem, it’s shown that the MOAS of a system subject to uncertainties can be calculated using the known bounds of the uncertain parameters and disturbances. Further extensions are made to handle the problem where the polynomial constraints acting on the system are piecewise and dependent upon the current value of the state. It’s shown that the regions of applicability of the piecewise constraints can be propagated into the future to determine feasible regions in which the state may exist. Each proposed method is supported by numerical examples which present the efficacy of the methods. It’s shown that the strategies developed in this work are applicable to real-world systems such as bistable structures, unmanned aerial vehicles, stall prevention of civil aircraft, and obstacle avoidance among others.
Subject (authority = RUETD)
Topic
Mechanical engineering
Subject (authority = LCSH)
Topic
Linear control systems
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Rutgers University Electronic Theses and Dissertations
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http://dissertations.umi.com/gsnb.rutgers:12294
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application/pdf
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text/xml
Extent
163 pages : illustrations
Note (type = degree)
Ph.D.
Note (type = bibliography)
Includes bibliographical references
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School of Graduate Studies Electronic Theses and Dissertations
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rucore10001600001
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Identifier (type = doi)
doi:10.7282/t3-gd57-pm28
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The author owns the copyright to this work.
RightsHolder (type = personal)
Name
FamilyName
Schieni
GivenName
Rick
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RightsEvent
Type
Permission or license
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2023-02-23T12:38:26
AssociatedEntity
Name
Rick Schieni
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Copyright holder
Affiliation
Rutgers University. School of Graduate Studies
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Author Agreement License
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I hereby grant to the Rutgers University Libraries and to my school the non-exclusive right to archive, reproduce and distribute my thesis or dissertation, in whole or in part, and/or my abstract, in whole or in part, in and from an electronic format, subject to the release date subsequently stipulated in this submittal form and approved by my school. I represent and stipulate that the thesis or dissertation and its abstract are my original work, that they do not infringe or violate any rights of others, and that I make these grants as the sole owner of the rights to my thesis or dissertation and its abstract. I represent that I have obtained written permissions, when necessary, from the owner(s) of each third party copyrighted matter to be included in my thesis or dissertation and will supply copies of such upon request by my school. I acknowledge that RU ETD and my school will not distribute my thesis or dissertation or its abstract if, in their reasonable judgment, they believe all such rights have not been secured. I acknowledge that I retain ownership rights to the copyright of my work. I also retain the right to use all or part of this thesis or dissertation in future works, such as articles or books.
RightsEvent
DateTime (encoding = w3cdtf); (qualifier = exact); (point = start)
2023-02-23
DateTime (encoding = w3cdtf); (qualifier = exact); (point = end)
2024-02-02
Type
Embargo
Detail
Access to this PDF has been restricted at the author's request. It will be publicly available after February 2, 2024.
Copyright
Status
Copyright protected
Availability
Status
Open
Reason
Permission or license
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