Tracking control Scheme for photoelectric tracking platform with predictor-structure ESO

Abstract

In this paper, a high-precision control scheme based on active disturbance rejection control (ADRC) with predictor-structure extended state observer (PESO) is developed to improve the tracking accuracy of a photoelectric tracking platform (PTP). ADRC controller is designed to estimation and compensation total disturbances which include both the external disturbances and the internal uncertain dynamics. The tracking loop of PTP is considered as an input-delay system through the designed composite control structure, then a PESO is proposed to obtain more accurate states and total disturbance. At the same time, the convergence of PESO is analyzed, and some simulations illustrate the effectiveness of PESO. Finally, the presented controller is realized on embedded microcontroller, and the contrast experiments are carried out. Experimental results show that the presented controller has excellent capability in error rejection, by which the effect of delay is effectively weakened, and the tracking accuracy of PTP is significantly improved.