Event
Disturbance-Separated MPC for Airborne Electro-Optical Pod Control
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Yaokun Lu and co-authors propose a disturbance-separated model predictive control (MPC) scheme for constrained pointing control of airborne electro-optical pods under carrier vibration, input delay, and actuator constraints. The scheme handles disturbances separately according to their characteristics: multi-harmonic vibration is predicted using an adaptive periodic observer combined with linear regression frequency estimation, while aperiodic disturbances and their changes within the input delay are estimated using a linear observer and a bounded LSTM network; the periodic prediction is embedded in the MPC model, and the aperiodic compensation is placed outside the optimizer. The authors conducted indoor hovering comparative experiments using a UAV-mounted two-axis pod platform, and supplemented these with simulations under frequency variation and parameter mismatch, stating that the scheme has been experimentally validated.
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- Disturbance-separated model predictive control for airborne electro-optical gimbals
The paper proposes a disturbance-separated model predictive control (MPC) scheme for constrained pointing control of airborne electro-optical gimbals under carrier vibration, input delay, and actuator constraints. The scheme uses an adaptive periodic observer combined with linear-regression frequency estimation to predict multi-harmonic vibrations, and a linear observer plus a bounded LSTM network to estimate aperiodic disturbances and their changes over the input delay; periodic predictions are embedded in the MPC model, while aperiodic compensation is applied outside the optimizer.
arXiv cs.RO ·