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Optimal Reference Tracking for Sampled-Data Control Systems

Fulltext:


Authors:

Enrico Bini , Alessandro Papadopoulos, Jacob Higgins , Nicola Bezzo

Research group:

Complex Real-Time Embedded Systems

Publication Type:

Conference/Workshop Paper

Venue:

61st IEEE Conference on Decision and Control

DOI:

10.1109/CDC51059.2022.9992462

Abstract

It is a standard engineering practice to design feedback-based control to have a system follow a given trajectory. While the trajectory is continuous-time, the sequence of references is varied at discrete times as it is normally computed by digital systems. In this work, we propose a method to determine the optimal discrete-time references to be applied over a time window of a given duration. The optimality criterion is the minimization of a weighted L2 norm between the achieved trajectory and a given target trajectory which is desired to follow. The proposed method is then assessed over different simulation results analyzing the effects of the design parameters, and over a UAV use case.

Bibtex

@inproceedings{Bini6499,
author = {Enrico Bini and Alessandro Papadopoulos and Jacob Higgins and Nicola Bezzo},
title = {Optimal Reference Tracking for Sampled-Data Control Systems},
pages = {7141--7148},
month = {December},
year = {2022},
booktitle = {61st IEEE Conference on Decision and Control},
url = {http://www.es.mdu.se/publications/6499-}
}