System and method for positioning a mirror in a lidar system using open loop and closed loop control

Abstract

According to various implementations of the invention, a system for controlling a controlled device includes a lidar configured to direct at least one beam toward a target; a first controlled device, wherein the at least one beam is directed toward the target via the first controlled device; and a control system configured to control a position of the first controlled device, where the control system includes an open loop controller and a closed loop controller. The open loop controller is configured to receive a desired trajectory command signal, and generate an open loop drive signal based on the desired trajectory command signal. The closed loop controller is configured to receive an actual position signal of 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, where the control signal accounts for group delays associated with one or more control system components. A combined drive signal is generated by combining the open loop drive signal and the closed loop drive signal. The combined drive signal is provided to control the position of the first controlled device.