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Optimal reference tracking with arbitrary sampling

Fulltext:


Authors:

Jacob Higgins , Alessandro Papadopoulos, Enrico Bini , Nicola Bezzo

Research groups:

Robotics
Complex Real-Time Embedded Systems

Publication Type:

Journal article

Venue:

Automatica 2025

Publisher:

Elsevier

DOI:

10.1016/j.automatica.2025.112308

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.

Bibtex

@article{Higgins7176,
author = {Jacob Higgins and Alessandro Papadopoulos and Enrico Bini and Nicola Bezzo},
title = {Optimal reference tracking with arbitrary sampling},
volume = {177},
pages = {112308},
month = {July},
year = {2025},
journal = {Automatica 2025},
publisher = {Elsevier},
url = {http://www.es.mdu.se/publications/7176-}
}