Certified Safe and Real-Time Control of Robotic Systems with Explicit Reference Governors

Bryan Convens, Kelly Merckaert, Marco M. Nicotra, Bram Vanderborght

Abstract: Reference and Command Governors are add-on schemes that enforce pointwise-in-time constraints on pre-stabilized safety-critical systems. More recently, the introduction of the Explicit Reference Governor (ERG) has provided a general framework for the closed-form constrained control of nonlinear systems subject to state and input constraints. First, this chapter gives an overview of planning, navigation, and control methods with applications to safety-critical robotics. Then, the ERG theory is briefly summarized. Finally, the main contribution of this chapter is to collect the main methodological ERG variations the authors have published in recent years and to demonstrate some successful numerical and real-world application results when applying the ERG to aerial (swarm) robotics and robotic manipulators.

External IDs:doi:10.1007/978-3-031-82681-8_12