学 术 报 告
系列讲座：Constraints Handling Using Reference Governors and Model Predictive Control
Pointwise-in-time state and control constraints refer to actuator or safety limits that must be enforced by the control system. With trends toward system downsizing and increasing performance, handling constraints represents a growing concern. Effective controllers for constrained systems must be nonlinear, and often predictive. The presentation will reflect on recent research into the theory and applications of constrained control, focusing more specifically on the theory and applications of reference governors and on the applications of model predictive control. Reference governors, which modify commands to nominally designed closed-loop systems to enforce the constraints, will be introduced first. Extensions of the reference governor to classes of linear systems with nonlinear constraints, to systems with fast and slow dynamics, and to systems controlled over a communication network with time-varying delays will be presented. Opportunities for reference governor applications to constrained control problems in different domains will be highlighted with specific examples. In the second part of the presentation, several automotive control problems with constraints will be discussed. The application of Model Predictive Control to these problems will be considered, and illustrated with simulation and experimental results.
Ilya Kolmanovsky has received his M.S. and Ph.D. degrees in aerospace engineering, and the M.A. degree in mathematics from the University of Michigan, Ann Arbor. He is presently a professor in the department of aerospace engineering at the University of Michigan. Prior to joining the University of Michigan in January 2010, Dr. Kolmanovsky was with Ford Research and Advanced Engineering in Dearborn, Michigan for close to 15 years. He has co-authored close to 300 journal and conference articles and is named as an inventor on 85 United States. He is a Fellow of IEEE, and a past recipient of the Donald P. Eckman Award of American ACC, of IEEE TCST Outstanding Paper Award, and several Ford Motor Company Technical Achievement, Innovation and Publication awards. Dr. Kolmanovsky has served as a Chair of IEEE Technical Committee on AC, an AE of IEEE Control Systems Society Conference Editorial Board, an AE of IEEE TCST, TAC, and Automatica, and a member of IEEE Control Systems Society Board of Governors.