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Book Sections Year : 2014

Delay Effects in Visual Tracking Problems for an Optronic Sighting System

Abstract

In this chapter, we study the delay effects in visual tracking problems for an optronic sighting system. We first describe the physical model and then give a simplified version defined by an integrator and a time-delay. We then state the visual tracking problems that are considered. To solve these problems, we first have to study the stabilization problem for the system defined above. Since this problem is a particular case of the general problem of parametrizing all the stabilizing controllers of a stable perturbation of a (infinite-dimensional) stabilizable plant, this problem is studied in its generality. Within the fractional representation approach to synthesis problems, we give an elementary proof for the existence of a general parametrization of all the stabilizing controllers of a stabilizable plant which does not necessarily admit doubly coprime factorizations. Only the knowledge of a (finite-dimensional) stabilizing controller is required. If the plant admits doubly coprime factorizations, then this parametrization yields the Youla-Kučera parametrization. Finally, using the above results, we study the tracking problems and show numerical simulations in which our results are compared with a PID and a H∞ -controller.
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Dates and versions

hal-01108016 , version 1 (22-01-2015)

Identifiers

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Alban Quadrat, Arnaud Quadrat. Delay Effects in Visual Tracking Problems for an Optronic Sighting System. Seuret, A. Low-Complexity Controllers for Time-Delay Systems, 2, Springer, pp.77-92, 2014, Advances in Delays and Dynamics, ⟨10.1007/978-3-319-05576-3_6⟩. ⟨hal-01108016⟩
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