Quasi Time-Fuel Optimal Control Strategy for dynamic target tracking

TL;DR

This paper introduces a quasi time-fuel optimal control strategy for dynamic target tracking in unmanned systems, enhancing switching performance and reducing oscillations while considering friction asymmetry, verified through visual tracking experiments.

Contribution

It proposes a novel control law that improves switching between multiple dynamic targets and mitigates high-frequency oscillations compared to existing methods.

Findings

Enhanced tracking performance demonstrated in experiments.

Reduced high-frequency oscillations under the new control strategy.

Effective handling of friction asymmetry in system dynamics.

Abstract

This brief proposes a quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems when fuel and control input are limited. This kind of motion planning and control strategy 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 that has been studied before, the proposed controller retains the advantages of optimal control when switching between multiple dynamic targets, and improves the high-frequency oscillation problem of the system under the discontinuous control strategy. Moreover, the asymmetry of friction load, which can affect the dynamic performance of the system, is also considered in this brief. Therefore, the novel control law, which is addressed by 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 are presented to verify the superiority of the proposed method.