US 12,246,699 B2
System and method for data-driven reference generation
Ankush Chakrabarty, Cambridge, MA (US); Karl Berntorp, Cambridge, MA (US); Stefano Di Cairano, Cambridge, MA (US); and Yebin Wang, Cambridge, MA (US)
Assigned to Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed by Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US)
Filed on Jun. 26, 2020, as Appl. No. 16/913,231.
Prior Publication US 2021/0402980 A1, Dec. 30, 2021
Int. Cl. B60W 30/00 (2006.01); B60W 40/068 (2012.01); B60W 40/107 (2012.01); G01C 21/34 (2006.01); G05D 1/00 (2024.01)
CPC B60W 30/00 (2013.01) [B60W 40/068 (2013.01); B60W 40/107 (2013.01); G01C 21/3453 (2013.01); G05D 1/0212 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A controller for controlling motion of a machine system having at least one motion actuator, comprising:
an interface configured to accept a set of measured system states of the machine system indicative of one or more physical quantities defining the motion of the machine system, a desired reference input to the machine system and one or more constraints limiting operation of the machine system;
a memory configured to store computer-executable programs including an adaptive reference governor (ARG); and
a processor, in connection with the memory, configured to execute the ARG to:
compute a system parameter estimate and a system state estimate for the machine system based on the set of measured system states, wherein the system parameter estimate corresponds to one or more uncertain system parameters affecting the motion of the machine system and that violate the one or more constraints;
compute a parameter-robust constraint admissible set based on the computed system parameter estimate and the system state estimate, wherein the parameter-robust constraint admissible set includes system states and reference inputs for which an output of the machine system satisfies the one or more constraints;
adjust the desired reference input, based on the parameter robust constraint admissible set to generate an adjusted reference input for the machine system;
generate one or more control commands based on the adjusted reference input and the system state estimate; and
control the at least one motion actuator of the machine system in accordance with the one or more control commands to change a state of the motion of the machine system.