Work

Optimal reference tracking with arbitrary sampling

Year: 2025

Type: article

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, which may not be periodic. In this paper, we propose a method to determine the discrete-time references which minimizes a weighted L 2 distance between the achieved trajectory and the target trajectory. Also, we consider any arbitrary sequence of sampling instants. The proposed method is then assessed over different simulation results, analyzing the design parameters’ effects, and over an unmanned aerial vehicle (UAV) use case.

Source: Automatica

DOI: 10.1016/j.automatica.2025.112308

Authors: Jacob Higgins, Alessandro V. Papadopoulos, Enrico Bini, Nicola Bezzo

Institutions: University of Virginia, Mälardalen University, University of Turin

Language: English

Topic: Advanced Control Systems Design

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,760