DOB based robust adaptive backstepping control of compound-axis Opto-electronic tracking system

To the issues of high precision and delay of the opto-electronic tracking system, the method based on main system and subsystem with double detectors is proposed. Aiming to solve the problem of underestimation of interference signal, the DOB-based robust adaptive backstepping controller is introduced in the main system. The additional interference compensation improves the robust and adaptive ability of the system to external interference. With the Kalman filters, the influence of the miss distance delay, encoder delay and other disturbance signals is decreased effectively. At the same time, the introduction of subsystem enhances the precision on a large scale. Finally, the simulation results demonstrate the effectiveness of the method.