Explicit kinematic-based control allocation for a four-degree-of-freedom redundant radar antenna drive system in target tracking
DOI:
https://doi.org/10.54939/1859-1043.j.mst.111.2026.22-30Keywords:
Redundant manipulator; 4 degrees of freedom; Control allocation; Target-tracking radar; Hierarchical control.Abstract
The control of a 4-degree-of-freedom (4-DOF) serial manipulator is a key research area in industrial robotics, particularly when the system exhibits actuation redundancy or demands high performance and precision. Handling actuation redundancy and control allocation plays a crucial role in ensuring operational flexibility, dynamic stability, while optimizing criteria such as energy consumption, torque, or obstacle avoidance. Modern research has developed diverse strategies, ranging from traditional optimization-based methods to intelligent techniques integrating deep learning and adaptive control. However, for systems applied in military fields such as radar gimbals, explicit techniques are often prioritized for their simplicity and high reliability. This paper presents an explicit control allocation method for a 4-DOF radar gimbal that effectively resolves practical application-oriented constraints. Accordingly, the naturally incorporated kinematic constraints lead to a control allocation process that aligns with the radar gimbal's operational conditions.
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