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

1. A system for controlling a controlled device, the system comprising:

a lidar configured to direct at least one beam toward a target, the lidar comprising a first controlled device and a control system,

wherein the at least one beam of the lidar is directed toward the target via the first controlled device, and

wherein the control system is configured to control a position of the first controlled device, wherein the control system comprises:

an open loop controller 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 controller 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, 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. The system of claim 1 , wherein the first controlled device comprises a beam steering mechanism.

3. The system of claim 2 , wherein the beam steering mechanism is configured to steer one or more mirrors.

4. The system of claim 2 , wherein the beam steering mechanism is configured to steer one or more optical fiber tips.

5. A control system for controlling a controlled device, the control system configured to:

generate a first control signal from a desired system output of the controlled device;

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 of the controlled device;

generating a corrected control signal based on the error signal; and

providing the first control signal and the corrected control signal to the controlled device.

6. The system of claim 5 , wherein the controlled device comprises a beam steering mechanism.

7. The system of claim 6 , wherein the beam steering mechanism is configured to steer one or more mirrors.

8. The system of claim 6 , wherein the beam steering mechanism is configured to steer one or more optical fiber tips.

9. A method for controlling a controlled device, the method comprising:

receiving a command signal for a desired trajectory of the controlled device;

generating an open loop drive signal for the controlled device based on the command signal;

receiving an actual position signal of the controlled device;

generating 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;

combining the open loop drive signal and the closed loop drive signal to form a combined drive signal; and

applying the combined drive signal to the controlled device to control the position of the controlled device.

10. The method of claim 9 , wherein receiving a command signal for a desired trajectory of the controlled device comprises receiving a command signal for a desired trajectory of a beam directed toward a target, wherein the beam is directed toward the target via a beam steering mechanism.

11. The method of claim 10 , wherein the beam steering mechanism is configured to steer one or more mirrors that direct the beam toward the target.

12. The method of claim 10 , wherein the beam steering mechanism is configured to steer one or more optical fiber tips that direct the beam toward the target.