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This letter introduces an add-on, supervisory scheme, referred to as Action Governor (AG), for discrete-time linear systems to enforce exclusion-zone avoidance requirements. It does so by monitoring, and minimally modifying when necessary, the nominal control signal to a constraint-admissible one. The AG operates based on set-theoretic techniques and online optimization. This letter establishes its theoretical foundation, discusses its computational realization, and uses two simulation examples to illustrate its effectiveness.
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Li et al. (2020) studied this question.
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