Event
Quantile-Command-Reserve MPC for Gimbal Pointing Control
1 reports · 1 sources
Yaokun Lu and co-authors submitted a paper proposing a quantile disturbance predictor and a tube-inspired model predictive controller for line-of-sight pointing control of a two-axis current-command gimbal under mismatched mechanical disturbances, reserving command margin according to predicted uncertainty. On a two-axis embedded platform, four controller configurations were each repeated for seven trials; the authors report a two-dimensional pointing root-mean-square error of 3.94 ± 0.10 mrad for the proposed configuration, with no command-saturation samples within the evaluation window. The authors state that this result supports the combined use of residual prediction and adaptive command margin under the tested conditions. Solve times and cycle-timeout records are reported separately for the 100 Hz nominal implementation.
Report timeline
- Quantile-Based Command-Reserve MPC for Current-Command Gimbal Pointing Control
This paper studies line-of-sight pointing control for a two-axis current-command gimbal under mismatched mechanical disturbances. It proposes a quantile disturbance predictor and a tube-inspired model predictive controller that reserves command headroom according to prediction uncertainty. On a two-axis embedded platform, the proposed configuration achieved a 2D pointing RMS error of 3.94 ± 0.10 mrad, with no command-saturation samples within the evaluation window; solve times and cycle overrun records are reported separately for a 100 Hz nominal implementation.
arXiv cs.RO ·