Integrated design of the sightline controller for automatic target tracking system
目标自动跟踪系统中瞄准线控制器的综合化设计

In designing the target-tacking system, in order to simplify the system structure but realize more complex functions, we propose an error-based technique for designing the sightline controller, and put forth a complete project for active disturbance rejection. In this project the target velocity is detected as unknown disturbance which is estimated in realtime and compensated by an augmented state-observer. To improve the control performances, a tracking differentiator(TD) is used as a filter for estimating the target velocity and acceleration. This information is integrated with the measured values from other sensors for estimating the dynamic states of the target system. Experimental results show that this system can track rapidly maneuvering targets with tracking-error less than 0.1mrad and maximum overshoot ratio less than 10%, satisfying the integrated multi-functional requirements. By modifying the software in the controller, this project can easily be carried over to other multi-functional control applications.