AI 中文总结
针对受非凸约束的线性离散时间系统，提出生成安全集的方法及参考调节器，能保证系统安全与参考命令收敛，在线计算开销低，特定情况下安全集计算高效，通过仿真验证了方法的适用性。
AI 中文摘要
本文提出一种为受非凸约束（可表示为多面体并集）的线性离散时间系统生成安全集的方法。接着展示了如何为安全参考跟踪任务实现参考调节器。对安全集进行理论分析并推导参考调节器方案的属性，保证随时安全及参考命令到严格可允许命令的有限时间收敛。该调节器在线计算开销低，特定复杂约束集下安全集可高效计算，还报告了大量仿真结果。
英文摘要
In this article we present a method to generate safe sets for linear discrete-time systems subject to non-convex constraints that can be represented as a union of polytopes. It is then shown how a reference governor can be implemented for safe reference tracking tasks. A theoretical analysis of the safe set is presented and properties of the reference governor scheme are derived. The guarantees include safety at any time as well as finite-time convergence of the applied reference command to any strictly admissible reference command. For the proposed reference governor, online computational overhead is low. Moreover, it is shown that for specific instances of the complex constraint sets, the safe set can be computed efficiently. Extensive simulation results demonstrating the applicability of the method and online/offline computation times are reported.
