中文摘要：

针对基于二次规划的稳态目标跟踪问题,给出一种统一的处理方法.该方法不仅可以通过加权协调各个目标的跟踪,还可通过惩罚跟踪偏差体现对输出目标跟踪的偏重.分析该方法的可行性,得到了同时适合于多优先级稳态目标优化的无静差控制的结论.仿真结果验证了所提出方法的有效性.

英文摘要：

A unified method is given for quadratic programming（QP） based steady-state target tracking, by which not only different targets can be compromised via weights, but the output target can have higher priority as well by punishing its tracking error. The feasibility of the method is analyzed, and the offset control property is achieved, which is simultaneously suitable for the multi-rank steady state target optimization. Simulation results show the effectiveness of the proposed method.