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26 4 Vol. 26 No. 4
2009 4 Control Theory Applications Apr. 2009
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Optimal preview tracking control based on
information fusion in error system
ZHEN Zi-yang, WANG Zhi-sheng, WANG Dao-bo
(College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing Jiangsu 210016, China)
Abstract: For the linear optimal tracking problem with previewed desired trajectory and disturbance, an information
fusion optimal control method based on an error system is presented. The linear servo system is transformed into an error
system. Based on the information fusion estimation method, estimations of co-states and control increment vectors of error
system are then derived by fusing the information of future desired trajectory, disturbance input, and error system states. An
optimal preview control system is also built, which is composed of an integral term, an optimal state feedback control term
and a preview feedforward compensation term. Finally, control simulation results of linear DC motor system show that
the position tracking accuracy of information fusion optimal preview control is higher than that of the traditional optimal
preview control.
Key words: information fusion; preview control; optimal estimation; optimal control
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