Adaptive feed-forward control for seeker based on the disturbance observer

In order to improve the tracking and stabilization performance, a control method combining disturbance observer and adaptive feed-forward control using parameterization is proposed for seeker stabilized platforms. The system identification algorithm is used to identify dynamic model of the true plant. Then the discrete-time disturbance observer is designed. The feedback loop controller is designed using pole-placement techniques. The recursive least square (RLS) adaptive filter is used to build the inverse model of the feedback control loop and in this way, the feed-forward control is constructed. The adaptive filter and the feedback loop constitute a control scheme with two degrees-of-freedom (DOF). Tracking experiments conducted on velocity command inputs verify the validity of the adaptive feed-forward controller. Experimental results show that this method responses quickly to commands. For a sinusoidal signal at the frequency of 30Hz, the adaptive feed-forward controller can obtain an amplitude response without attenuation and the phase lag is reduced to 11° in contrast with the feedback control whose phase lag is 60°. This method significantly improves the transient performance and is superior to the feedback control alone.