CPU- and GPU-Based Parallelization of the Robust Reference Governor

2025/10/09 by Hamid R. Ossareh, Ossareh, Hamid R., William Shayne +3
Computer Science · Engineering · #Advanced Control Systems Optimization #Control and Stability of Dynamical Systems #FOS: Electrical engineering #Modeling and Simulation Systems #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2510.08288

openalex publication_date 2025/10/09 · openalex created_date 2025/10/11 · openalex updated_date 2026/07/28

Abstract

Constraint management is a central challenge in modern control systems. A solution is the Reference Governor (RG), which is an add-on strategy to pre-stabilized feedback control systems to enforce state and input constraints by shaping the reference command. While robust formulations of RG exist for linear systems, their extension to nonlinear systems is often computationally intractable. This paper develops a scenario-based robust RG formulation for nonlinear systems and investigates its parallel implementation on multi-core CPUs and CUDA-enabled GPUs. We analyze the computational structure of the algorithm, identify parallelization opportunities, and implement the resulting schemes on modern parallel hardware. Benchmarking on a nonlinear hydrogen fuel cell model demonstrates order-of-magnitude speedups (by as much as three orders of magnitude) compared to sequential implementations.

Citations

• A Neural Network-based Multi-timestep Command Governor for Nonlinear Systems with Constraints
• A Machine Learning-Based Reference Governor for Nonlinear Systems With Application to Automotive Fuel Cells
• ReLU-QP: A GPU-Accelerated Quadratic Programming Solver for Model-Predictive Control
• GPU Accelerated Convex Approximations for Fast Multi-Agent Trajectory Optimization
• The Scenario Approach for Stochastic Model Predictive Control with Bounds on Closed-Loop Constraint Violations
• The scenario approach for Stochastic Model Predictive Control with bounds on closed-loop constraint violations
• Reference governor for constrained nonlinear systems

Related

• Reference governor for constrained nonlinear systems
• A Machine Learning-Based Reference Governor for Nonlinear Systems With Application to Automotive Fuel Cells
• Preview Reference Governors: A Constraint Management Technique for Systems With Preview Information
• Discrete-Time Implementation of Explicit Reference Governor
• Reference Governor for Input-Constrained MPC to Enforce State Constraints at Lower Computational Cost