Abstract

This paper develops and compares multiple control strategies for a two-degree-of-freedom CIWS (Close-In Weapon System)-style turret tracking rapidly maneuvering airborne targets. A simplified nonlinear manipulator model with realistic actuator torque limits is used as the plant. Five controllers are implemented: a baseline PID (Proportional-Integral-Derivative) controller, a feedforward PID, a Kalman-filter-assisted PID, and two feedback-linearized designs using PID and LQR (Linear-Quadratic-Regulator)-based surrogate dynamics. Controller performance is evaluated on increasingly aggressive three-dimensional target trajectories under varying sensor noise. Results show that PID-family controllers achieve competitive tracking accuracy while remaining torque-efficient and largely unsaturated. Feedback-linearized controllers improve tracking accuracy only when sufficient actuator authority is available, but frequently operate in saturation under aggressive maneuvers, limiting their theoretical advantages. The LQR-based design prioritizes control-effort minimization over tracking accuracy, consistent with its quadratic cost formulation. Overall, the study demonstrates that for high-agility interception, actuator constraints and system bandwidth dominate performance, and increased controller complexity does not necessarily yield improved practical outcomes.

Department(s)

Mechanical and Aerospace Engineering

Publication Status

Full Access

International Standard Book Number (ISBN)

978-162410780-1

Document Type

Article - Conference proceedings

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 2026 American Institute of Aeronautics and Astronautics, All rights reserved.

Publication Date

01 Jan 2026

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