This paper presents a new approach to enforce state, output, and control constraints in closed-loop nonlinear systems. The approach is based on the Reference Governor (RG) scheme and leverages set-theoretic methods in control, as well as data-driven offline optimization. Specifically, the approach decomposes the design of the constraint management strategy into two parts: enforcement at steady-state, and during transient. The former is achieved by using the forward and inverse steady-state characterization of the nonlinear system, which is available, for example, in many applications in the automotive industry. The latter is achieved by implementing an RG-based approach, which employs a novel Robust Output Admissible Set (ROAS), which is obtained using data from the nonlinear system. This scheme is systematically studied, and algorithms for its implementation are provided. The scheme is validated using simulations, as well as real experiments on a turbocharged gasoline engine.

本文提出了一种在闭环非线性系统中强制执行状态、输出和控制约束的新方法。该方法基于参考调控器 (RG) 方案，并利用集合论方法进行控制，以及数据驱动的离线优化。具体来说，该方法将约束管理策略的设计分解为两部分：稳态执行和瞬态执行。前者是通过使用非线性系统的正向和反向稳态表征来实现的，例如，在汽车行业的许多应用中都可以使用。后者是通过实施基于 RG 的方法来实现的，该方法采用了一种新颖的鲁棒输出允许集 (ROAS)，它是使用来自非线性系统的数据获得的。系统地研究了这个方案，并提供了其实现的算法。该方案通过模拟以及涡轮增压汽油发动机的实际实验得到验证。