Servo tracking of targets at sea

Anis Ahmed; Mieczyslaw Brdys

International Journal of Applied Mathematics and Computer Science (2006)

  • Volume: 16, Issue: 2, page 197-207
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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Ahmed, Anis, and Brdys, Mieczyslaw. "Servo tracking of targets at sea." International Journal of Applied Mathematics and Computer Science 16.2 (2006): 197-207. <http://eudml.org/doc/207785>.

@article{Ahmed2006,
abstract = {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.},
author = {Ahmed, Anis, Brdys, Mieczyslaw},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {target tracking; Kalman Filter; adaptive control; tracker},
language = {eng},
number = {2},
pages = {197-207},
title = {Servo tracking of targets at sea},
url = {http://eudml.org/doc/207785},
volume = {16},
year = {2006},
}

TY - JOUR
AU - Ahmed, Anis
AU - Brdys, Mieczyslaw
TI - Servo tracking of targets at sea
JO - International Journal of Applied Mathematics and Computer Science
PY - 2006
VL - 16
IS - 2
SP - 197
EP - 207
AB - 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.
LA - eng
KW - target tracking; Kalman Filter; adaptive control; tracker
UR - http://eudml.org/doc/207785
ER -

References

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  1. Borrie J.A. (1992): Stochastic Systems for Engineers: Modelling, Estimation and Control. - New York: Prentice-Hall. Zbl0759.93070
  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. Zbl1004.93502
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  4. Jaźwiński A.H. (1970): Stochastic Processes and Filtering Theory. - New York: Academic Press. Zbl0203.50101
  5. Kwakernaak H. and Sivan R. (1972): Linear Optimal Control Systems. - New York: Wiley. Zbl0276.93001
  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. Zbl0949.93003
  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. Zbl0774.93031
  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. 

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