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

摘要：

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.

关键词： Compound-axis DOB Robust Adaptive Control backstepping Kalman Filter

作者: Yan Ren hengHua Liu Rui Zhou

作者单位: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191,China In School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191,China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 2996-3000

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）