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

Bryan Convens; Kelly Merckaert; Marco Nicotra; Bram Vanderborght

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

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Research › peer-review

Abstract

ReferenceSafeRoboticExplicitReference and Command Governors are add-on schemes that enforce pointwise-in-time constraints on pre-stabilized safetySafety-critical systems. More recently, the introduction of theReference Governor (RG) ExplicitExplicit Reference GovernorExplicit Reference GovernorGovernor (ERG) (ERG) has provided a general frameworkFramework for the closed-form constrained control of nonlinearNonlinear systems subject to state and input constraints. First, this chapter gives an overview of planning, navigation, and control methods with applications to safetySafety-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 roboticRobotic manipulators.

Original language	English
Title of host publication	Nonlinear and Constrained Control
Subtitle of host publication	Applications, Synergies, Challenges and Opportunities
Editors	Emanuele Garone, Ilya Kolmanovsky, Tam W. Nguyen
Publisher	Springer Nature
Pages	299-327
Number of pages	29
Edition	1
ISBN (Electronic)	978-3-031-82681-8
ISBN (Print)	978-3-031-82680-1, 978-3-031-82683-2
Publication status	Published - 2025

Publication series

Name	Lecture Notes in Control and Information Sciences
Volume	496
ISSN (Print)	0170-8643
ISSN (Electronic)	1610-7411

Bibliographical note

Publisher Copyright:
© The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

Access to Document

https://link.springer.com/book/9783031826801

Handle.net

Persistent link

FWOTM1231: Resilient control of complex aerial multi-robot systems under uncertainty
Convens, B. (Mandate) & Vanderborght, B. (Administrative Promotor)
1/11/24 → 31/10/27
Project: Fundamental

Cite this

Convens, B., Merckaert, K., Nicotra, M., & Vanderborght, B. (2025). Certified Safe and Real-Time Control of Robotic Systems with Explicit Reference Governors. In E. Garone, I. Kolmanovsky, & T. W. Nguyen (Eds.), Nonlinear and Constrained Control: Applications, Synergies, Challenges and Opportunities (1 ed., pp. 299-327). (Lecture Notes in Control and Information Sciences; Vol. 496). Springer Nature. https://link.springer.com/book/9783031826801

Convens, Bryan ; Merckaert, Kelly ; Nicotra, Marco et al. / Certified Safe and Real-Time Control of Robotic Systems with Explicit Reference Governors. Nonlinear and Constrained Control: Applications, Synergies, Challenges and Opportunities. editor / Emanuele Garone ; Ilya Kolmanovsky ; Tam W. Nguyen. 1. ed. Springer Nature, 2025. pp. 299-327 (Lecture Notes in Control and Information Sciences).

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abstract = "ReferenceSafeRoboticExplicitReference and Command Governors are add-on schemes that enforce pointwise-in-time constraints on pre-stabilized safetySafety-critical systems. More recently, the introduction of theReference Governor (RG) ExplicitExplicit Reference GovernorExplicit Reference GovernorGovernor (ERG) (ERG) has provided a general frameworkFramework for the closed-form constrained control of nonlinearNonlinear systems subject to state and input constraints. First, this chapter gives an overview of planning, navigation, and control methods with applications to safetySafety-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 roboticRobotic manipulators.",

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Convens, B , Merckaert, K, Nicotra, M & Vanderborght, B 2025, Certified Safe and Real-Time Control of Robotic Systems with Explicit Reference Governors. in E Garone, I Kolmanovsky & TW Nguyen (eds), Nonlinear and Constrained Control: Applications, Synergies, Challenges and Opportunities. 1 edn, Lecture Notes in Control and Information Sciences, vol. 496, Springer Nature, pp. 299-327. <https://link.springer.com/book/9783031826801>

Certified Safe and Real-Time Control of Robotic Systems with Explicit Reference Governors. / Convens, Bryan ; Merckaert, Kelly; Nicotra, Marco et al.
Nonlinear and Constrained Control: Applications, Synergies, Challenges and Opportunities. ed. / Emanuele Garone; Ilya Kolmanovsky; Tam W. Nguyen. 1. ed. Springer Nature, 2025. p. 299-327 (Lecture Notes in Control and Information Sciences; Vol. 496).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › Research › peer-review

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Convens B , Merckaert K, Nicotra M, Vanderborght B. Certified Safe and Real-Time Control of Robotic Systems with Explicit Reference Governors. In Garone E, Kolmanovsky I, Nguyen TW, editors, Nonlinear and Constrained Control: Applications, Synergies, Challenges and Opportunities. 1 ed. Springer Nature. 2025. p. 299-327. (Lecture Notes in Control and Information Sciences).

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

Abstract

Publication series

Bibliographical note

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Projects

FWOTM1231: Resilient control of complex aerial multi-robot systems under uncertainty

Cite this