Zemerart Asani

Université libre de Bruxelles, Vrije Universiteit Brussels

Tuesday, November 03, 2026, 11:00 - 11:59

SR 01-012

Model Predictive Control (MPC) is widely used for handling constraints in nonlinear systems, but its computational complexity sometimes can limit real-time applications. An alternative is the Explicit Reference Governor (ERG), an optimization-free scheme that provides constraint-handling capabilities to pre-stabilized systems by dynamically adjusting the applied reference. The ERG is a closed-form feedback strategy for the control of constrained systems inspired by the Reference Governor philosophy.

This talk will introduce ERG and its applications to cooperative robotic systems, alongside MPC-based approaches for more complex dynamic and contact-rich interactions. Applications include cooperative heavy-load manipulation, oscillation suppression, dynamic grasping, and nonprehensile manipulation.