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Delay Effects in Visual Tracking Problems for an Optronic Sighting System

Alban Quadrat 1, 2 Arnaud Quadrat 3
1 Division Systèmes - L2S
L2S - Laboratoire des signaux et systèmes : 1289
2 DISCO - Dynamical Interconnected Systems in COmplex Environments
L2S - Laboratoire des signaux et systèmes, Inria Saclay - Ile de France
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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Submitted on : Thursday, January 22, 2015 - 9:20:55 AM
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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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