Optimal reference tracking with arbitrary sampling
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.
Authors
- Enrico Bini (ORCID: https://orcid.org/0000-0001-9205-584X)
- Alessandro V. Papadopoulos (ORCID: https://orcid.org/0000-0002-1364-8127)
- Jacob Higgins (ORCID: https://orcid.org/0000-0001-5967-7065)
- Nicola Bezzo (ORCID: https://orcid.org/0000-0001-6627-5048)
Institutions
- University of Virginia (US)
- University of Turin (IT)
- Mälardalen University (SE)
Publication Details
- Journal
- Automatica
- Published
- 2025-04-08
- DOI
- https://doi.org/10.1016/j.automatica.2025.112308
- Primary Topic
- Target Tracking and Data Fusion in Sensor Networks
- Type
- article
- Field-Weighted Citation Impact
- 0.00
Funders
- National Science Foundation
- Knowledge Foundation
- National Sleep Foundation
- Stiftelsen för Kunskaps- och Kompetensutveckling
- Paul Scherrer Institut
- Vetenskapsrådet
- Ministero degli Affari Esteri e della Cooperazione Internazionale
- Defense Advanced Research Projects Agency