A Real-Time Fine Tracking Controller Based on CMAC and Kalman Filter for PAT System

In order to track with the beacon real time and high precisely for fine tracking system in free space optical communication, a novel control algorithm is presented in the paper. The kalman filter is used to predict the bean´s feature, and multi-resolution correlative matching operation and fast searching method are adopted to search the beacon´s center. The PED controller is used to realize the feedback control, and the CMAC neural network learns the output of PID controller and achieve at the feed-forward controller. All of these methods are realized in FPGA chip and DSP chip. Experiment result shows that the fine tracking system with the algorithm in this paper shows much better performance than that of traditional PED algorithm.