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This paper focuses on the constrained attitude control of a rigid body. We propose an Explicit Reference Governor (ERG) specifically designed to handle constraints on S O (3). Two types of constraints are considered: (i) input torque constraints, and (ii) geometric conic pointing constraints. The objective of this paper is to design a control law that is able to steer the attitude of a rigid body to the desired attitude reference while enforcing constraints at all times. To this end, the first step is to design a controller that makes the desired attitude asymptotically stable when constraints (i) and (ii) are neglected. Next, the proposed control scheme is augmented with a novel ERG scheme able to add constraint-handling capabilities to the overall architecture. All the proposed solutions are defined in terms of S O (3) and do not make use of any parameterization such as quaternions or Euler angles. Numerical simulations are carried out to show the effectiveness of the proposed control scheme. [ABSTRACT FROM AUTHOR]

This paper tackles the constrained control problem of unmanned aerial vehicles with planar multirotors. The proposed solution splits the constrained control problem into two separate tasks, i.e. stabilization and constraint enforcement. It is shown that the problems addressed by each individual layer is much simpler than the original combined problem. For the unconstrained control of UAVs we consider a control scheme based on a cascade structure. The Lyapunov function for the stabilized cascaded system is then derived. Using this Lyapunov function, we develop an Explicit Reference Governor for constraint enforcement. Numerical simulation shows the effectiveness of the proposed approach. [ABSTRACT FROM AUTHOR]

• A complete theoretical analysis of a modified version of the Scalar Reference Gorvernor subjected to OR constraints. • An additional case study has been described to show the effectiveness of the proposed method in a variety of situations. • Experimental validation on a Li-ion graphite/LCO battery. In this paper, we propose a solution for the control of the state-of-charge of a lithium-ion (Li-ion) battery cell. The aim is to design a control scheme able to charge the battery in a fast way while ensuring that the safety constraints of the electrochemical model (ECheM) of the battery are not violated. The proposed solution is based on a novel computationally efficient formulation of the Reference Governor (RG) able to deal with the union of linear constraints and which has been designed on the basis of a reduced ECheM, namely the equivalent-hydraulic model (EHM). Using suitable safety margins, the satisfaction of the constraints on the EHM ensures the satisfaction of the constraints on the full-order ECheM. Simulation results obtained on an accurate simulator show that the proposed method, if compared with classical charge strategies, is able to considerably improve the charge performance while ensuring the satisfaction of the constraints. These findings are validated experimentally on a Li-ion graphite/LCO battery. [ABSTRACT FROM AUTHOR]