System and Method for Positioning a Mirror in a Lidar System Using Open Loop and Closed Loop Control

Abstract

A control system structure is provided that improves system bandwidth without affecting optimization for other performance criteria (such as, suppressing loop disturbances, or other optimization criteria) and stability of a closed-loop system.

What is claimed is: 
     
         1 . A system for controlling a controlled device, the system comprising:
 a lidar subsystem configured to direct at least one beam toward the target, wherein the at least one beam is directed toward the target via a first controlled device; and   a control system configured to control a position of the first controlled device, wherein the control system comprises:
 an open loop control component configured to:
 receive a desired trajectory command signal, and 
 generate an open loop drive signal based on the desired trajectory command signal, and 
 
 a closed loop control component configured to:
 receive an actual position signal from the first controlled device, and 
 generate a closed loop drive signal based on the actual position signal and a control signal derived from the command signal, 
 
 wherein the control signal accounts for group delays associated with one or more control system components, 
   wherein a combined drive signal is provided to control the position of the first controlled device, and wherein the combined drive signal is generated by combining the open loop drive signal and the closed loop drive signal.   
     
     
         2 . A control system for controlling a subsystem, the control system configured to:
 generate a first control signal from a desired system output;   generate a second control signal from the desired system output, wherein the second control signal accounts for group delays associated with one or more control system components;   generate an error signal based on the second control signal and a measured system output;   generating a corrected control signal based on the error signal; and   provide the first control signal and the corrected control signal to the subsystem.