Optimal preview tracking control based on information fusion in error system
基于误差系统的信息融合最优预见跟踪控制

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.