In this paper, we develop a hybrid supervisory control architecture in a real-time environment for constrained control systems. The strategy is based on Command Governor (CG) ideas and is tailored to jointly take into account time-varying set-points/constraints and unpredictable anomalies in the nominal dynamical plant behaviour. The significance of the method mainly lies in its capability to avoid constraint violation and loss of stability regardless of any configuration change occurrence in the plant/constraint structure by commuting the current CG with a new on-line computed unit. Simulations on an High Altitude Performance Demonstrator (HAPD) unmanned aircraft with redundancy control surfaces show the effectiveness of the proposed strategy.
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