An exact solution for the infinite horizon LQ optimal output tracking problem

Peter Bauer, Balazs Kulcsar, Jozsef Bokor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The paper proposes a new, discrete time LQ optimal controller synthesis for output tracking over an infinite horizon. The resulted controller consists of a state feedback and a feedforward term. The solution requires a one step ahead prediction of the reference signal. For a smooth enough reference signal this can be replaced with extrapolation. Here, the properties for constant reference signals are examined, time varying references will be covered with another article. The method guarantees asymptotical stability and zero steady state tracking error. The elaborated techniques satisfy the separation principle for an arbitrary deterministic or stochastic state estimator. The reference tracking problem for a quadrotor helicopter is solved by the method. The trajectory tracking control is successfully applied both with reference signal preview and extrapolation (considering time varying references also).

Original languageEnglish
Title of host publication17th IEEE International Conference on Control Applications, CCA
Pages822-827
Number of pages6
DOIs
Publication statusPublished - Oct 13 2008
Event17th IEEE International Conference on Control Applications, CCA - San Antonio, TX, United States
Duration: Sep 3 2008Sep 5 2008

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other17th IEEE International Conference on Control Applications, CCA
CountryUnited States
CitySan Antonio, TX
Period9/3/089/5/08

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Keywords

  • Constant reference signal
  • Discrete time LQ
  • Infinite horizon
  • Output tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

Cite this

Bauer, P., Kulcsar, B., & Bokor, J. (2008). An exact solution for the infinite horizon LQ optimal output tracking problem. In 17th IEEE International Conference on Control Applications, CCA (pp. 822-827). [4629643] (Proceedings of the IEEE International Conference on Control Applications). https://doi.org/10.1109/CCA.2008.4629643