Servo tracking of targets at sea

• Autorzy: Ahmed A. , Brdyś M. A.
• Języki publikacji: EN

Abstrakty

EN

This paper details a proposal for the position control system of a two-axis ship-mounted tracker. Aspects of the non-linear dynamics governing Line-Of-Sight (LOS) errors between the tracker and the target are presented. It is shown that the regulation of LOS errors can be achieved by introducing a feed-forward term based on the target’s velocity. This velocity is not measurable, and an estimator is required. Given that the tracking problem is non-linear, the classical separation principle does not hold, and cascading the estimator and regulator together may not lead to an optimal position control system. The ‘LQAdaptive’ system proposed here aims therefore to improve conformity to the separation principle. Simulation trials show that tracking is improved under the LQAdaptive system in comparison to a simple estimator-regulator structure.

Słowa kluczowe

EN

target tracking; tracker; Kalman filter; adaptive control

PL

śledzenie celu; urządzenie śledzące; filtr Kalmana; adaptacyjny układ sterowania

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2006
• Tom: Vol. 16, no 2
• Strony: 197--207
• Opis fizyczny: Bibliogr. 9 poz., rys., wykr.

Twórcy

autor

Ahmed A.

• Department of Electronic, Electrical and Computer Engineering, School of Engineering, University of Birmingham, Birmingham B15 2TT, UK; Pilkington Glass, Pilkington Cowley Hill, St. Helens, WA10 2RZ, UK

autor

Brdyś M. A.

• Department of Electronic, Electrical and Computer Engineering, School of Engineering, University of Birmingham, Birmingham B15 2TT, UK

Bibliografia

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• [2] Brdyś M.A. and Littler J.J. (2002): Fuzzy logic gain scheduling for non-linear servo tracking. - Int. J. Appl. Math. Comput. Sci., Vol. 12, No. 2, pp. 209-219.
• [3] Ekstrand B. (2001): Tracking filters and models for seeker applications.- IEEE Trans. Aerosp. Electron. Syst., Vol. 37, No. 3, pp. 965-977.
• [4] Jaźwiński A.H. (1970): Stochastic Processes and Filtering Theory. - New York: Academic Press.
• [5] Kwakernaak H. and Sivan R. (1972): Linear Optimal Control Systems. -New York: Wiley.
• [6] Mayne D., Rawlings J.B., Rao C.V. and Scokaret P.O.M. (2000): Constrained model predictive control: Stability and optimality.- Automatica, Vol. 36, No. 6, pp. 789-814.
• [7] Singer R.A. (1970): Estimating optimal tracking filter performance for manned maneuvring targets. - IEEE Trans. Aerosp. Electron. Syst., Vol. 6, No. 2, pp. 473-483.
• [8] Soeterboek R. (1992): Predictive Control - A Unified Approach. - Hemel Hempstead: Prentice-Hall International.
• [9] Yang Z. (2002): Multiple-model tracking with fixed-lag smooting using imprecise information. - Ph.D. thesis, Department of Electronic, Electrical and Computer Engineering, The University of Birmingham, Birmingham.