Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

Abstract

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.