High-precision tracking differentiator via generalized discrete-time optimal control

Zhang, Hehong; Xie, Ying; Long-hua, She; Zhai, Chao; Xiao, Gaoxi

doi:10.1016/j.isatra.2019.05.002

“…Pioneered by Bobrow et al [14], the time optimal trajectory planning of industrial manipulator was investigated. Recently, timedependent optimal control problem has been widely explored in many domains, including spacecraft control systems [15], [16], robot control systems [17], and the power system with model uncertainty [18]. Furthermore, a hybrid optimal control problem is formulated and solved in the context of efficient piecewise optimal transfers to the lunar gateway by precomputing the terminal coast arcs [19].…”

Section: Introductionmentioning

confidence: 99%

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Zheng¹,

Wang²,

Shi³

et al. 2022

Preprint

0

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A quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems is investigated. It could bring the biggest advantage into full play in the field of switching tracking for multiple targets, such as the multi-target strike of weapons and the rapid multi-target grabbing of robots on industrial assembly lines. Compared with the time-fuel optimal control studied before, the proposed controller retains the advantages of optimal control when switching between multiple dynamic targets, and overcomes the high-frequency oscillation problem of the system under the discontinuous control strategies. Moreover, the asymmetry of friction load, which can affect the dynamic performance of the system, is also considered. Therefore, the novel control law proposed in this brief can make the corresponding system achieve the desired transient performance and satisfactory steady-state performance when switching between multiple dynamic targets. The experiment results based on the visual tracking turntable verify the superiority of the proposed method.

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“…Pioneered by Bobrow et al [14], the time optimal trajectory planning of industrial manipulator was investigated. Recently, timedependent optimal control problem has been widely explored in many domains, including spacecraft control systems [15], [16], robot control systems [17], and the power system with model uncertainty [18]. Furthermore, a hybrid optimal control problem is formulated and solved in the context of efficient piecewise optimal transfers to the lunar gateway by precomputing the terminal coast arcs [19].…”

Section: Introductionmentioning

confidence: 99%

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Zheng¹,

Wang²,

Shi³

et al. 2022

Preprint

0

View full text Add to dashboard Cite

A quasi time-fuel optimal control strategy to solvethe dynamic tracking problem of unmanned systems is investi?gated. It could bring the biggest advantage into full play in the field of switching tracking for multiple targets, such as the multi-target strike of weapons and the rapid multi-target grabbing of robots on industrial assembly lines. Compared with the time-fuel optimal control studied before, the proposed controller retains the advantages of optimal control when switching between multiple dynamic targets, and overcomes the high-frequency oscillation problem of the system under the discontinuous control strategies. Moreover, the asymmetry of friction load, which can affect the dynamic performance of the system, is also considered. Therefore, the novel control law proposed in this brief can make the corresponding system achieve the desired transient performance and satisfactory steady-state performance when switching between multiple dynamic targets. The experiment results based on the visual tracking turntable verify the superiority of the proposed method.

show abstract

“…Pioneered by Bobrow et al [14], the time optimal trajectory planning of industrial manipulator was investigated. Recently, timedependent optimal control problem has been widely explored in many domains, including spacecraft control systems [15], [16], robot control systems [17], and the power system with model uncertainty [18]. Furthermore, a hybrid optimal control problem is formulated and solved in the context of efficient piecewise optimal transfers to the lunar gateway by precomputing the terminal coast arcs [19].…”

Section: Introductionmentioning

confidence: 99%

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Zheng¹,

Wang²,

Shi³

et al. 2021

Preprint

0

View full text Add to dashboard Cite

A quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems is investigated. It could bring the biggest advantage into full play in the field of switching tracking for multiple targets, such as the multitarget strike of weapons and the rapid multi-target grabbing of robots on industrial assembly lines. Compared with the time-fuel optimal control studied before, the proposed controller retains the advantages of optimal control when switching between multiple dynamic targets, and overcomes the high-frequency oscillation problem of the system under the discontinuous control strategies. Moreover, the asymmetry of friction load, which can affect the dynamic performance of the system, is also considered. Therefore, the novel control law proposed in this brief can make the corresponding system achieve the desired transient performance and satisfactory steady-state performance when switching between multiple dynamic targets. The experiment results based on the visual tracking turntable verify the superiority of the proposed method.

show abstract

High-precision tracking differentiator via generalized discrete-time optimal control

Cited by 18 publications

References 23 publications

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

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