Title :
Robust Self-tuning IMC for Opto-electronic Tracking Time-delay System
Author :
Bo, Xu ; Wei, Ji ; Wei, Pan ; Yanping, Qian
Author_Institution :
Jiangsu Univ., Zhenjiang
Abstract :
Aiming at the measurement time-delay of image tracker and plant model uncertainty, a robust self-tuning internal model control (STIMC) strategy is designed for the opto-electronic (O-E) tracking system. Equations for designing the IMC controller based on gain and phase margin specifications are given in detail. The quadratic cost function is introduced to find an optimal solution for the controller parameter. The robust stability condition under plant/model mismatch is analyzed and some designing criterions for selecting controller parameter are obtained. The experimental results in the O-E tracking turntable are presented to verify the effectiveness of the proposed method in overcoming tracking error causing by measurement time-delay.
Keywords :
delay systems; optical control; optical tracking; optoelectronic devices; robust control; self-adjusting systems; uncertain systems; controller parameter; gain specification; image tracking; optoelectronic tracking system; phase margin specification; plant model uncertainty; quadratic cost function; robust self-tuning internal model control; robust stability; time-delay system; Charge-coupled image sensors; Control systems; Cost function; Optical imaging; Optimal control; Robust control; Robustness; Sensor phenomena and characterization; Target tracking; Tracking loops; O-E tracking system; Robust stability; Self-tuning IMC;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347427
