Robust Action Governor for Discrete-Time Piecewise Affine Systems With Additive Disturbances

In this letter, we introduce an extension of the Action Governor (AG), which is an add-on, supervisory scheme to a nominal control loop to enforce safety-related requirements. This extension enables AG design based on discrete-time piecewise affine (PWA) system models with additive set-bounded disturbance inputs and non-convex exclusion-zone avoidance constraints. We establish theoretical properties and computational approaches for this robust version of AG, and illustrate its application to an autonomous vehicle control problem.