Design of Optimal Tracking Controller for Systems with Control-Affine Form

Abstract

This paper deals with the optimal tracking control (OTC) problem for a class of nonlinear system with controlaffine form. The feedforward compensation technique is used in order to make the system's output asymptotically track the desired trajectory. An adjoint vector is introduced to compensate the control-affine nonlinearity of the dynamic system. The compensation term is obtained by introducing an iterative procedure for solving a sequence of linear inhomogeneous twopoint boundary value (TPBV) problems using the successive approximation approach (SAA). The OTC law obtained consists of an accurate state feedback term, a feedforward term and a compensation term which is the limit of the adjoint vector sequence. Using a finite-time iteration of the adjoint vector among optimal solution sequence, we can obtain a suboptimal tracking control (STC) law. An aircraft model is employed to test the validity of this method.

Design and Optimal Control of Line of Sight Stabilization of Moving Target

“…based on the image observed via a video monitor [8]. In this way, the operator will attempt to drive the platform so that the object of interest is fixed on the bore sight .In the case of an automatic tracking system, the operator is replaced by an electronic system which processes the video images directly in real-time to ascertain the position of a designated object with respect to the sensor bore sight [9] [10]. This error is then used to control the platform such that the platform and attached sensors accurately follow the target.…”