Title :
DOB based robust adaptive backstepping control of compound-axis Opto-electronic tracking system
Author :
Ren, Yan ; Liu, ZhengHua ; Zhou, Rui
Abstract :
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.
Keywords :
Kalman filters; adaptive control; control nonlinearities; delays; encoding; interference (signal); observers; optical tracking; optoelectronic devices; robust control; DOB-based robust adaptive backstepping control; Kalman filters; compound-axis optoelectronic tracking system; disturbance observer; disturbance signals; double detectors; encoder delay; external interference compensation; interference signal underestimation; miss-distance delay; precision enhancement; Adaptive systems; Backstepping; Control systems; Friction; Interference; Noise; Robustness; Compound-axis; DOB; Kalman Filter; Robust Adaptive Control; backstepping;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6243073