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Optimal Reference Tracking for Sampled-Data Control Systems
University of Turin, Italy.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-1364-8127
University of Virginia, USA.
University of Virginia, USA.
2022 (English)In: Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc. , 2022, p. 7141-7148Conference paper, Published paper (Refereed)
Abstract [en]

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 be followed. The proposed method is then assessed over different simulation results, analyzing the design parameters' effects, and over a UAV use case. The code to reproduce the results is publicly available.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers Inc. , 2022. p. 7141-7148
Keywords [en]
Continuous time systems, Sampled data control systems, Continous time, Design feedbacks, Digital system, Discrete time, Engineering practices, Feedback-based control, Optimality criteria, Reference-tracking, Sampled-data control system, Time windows, Trajectories
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-61801DOI: 10.1109/CDC51059.2022.9992462ISI: 000948128105151Scopus ID: 2-s2.0-85147002001ISBN: 9781665467612 (print)OAI: oai:DiVA.org:mdh-61801DiVA, id: diva2:1735200
Conference
61st IEEE Conference on Decision and Control, CDC 2022, 6 December 2022 through 9 December 2022
Available from: 2023-02-08 Created: 2023-02-08 Last updated: 2023-05-03Bibliographically approved

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Papadopoulos, Alessandro

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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf