The RSLQR Control Method Based on the Linear Extended State Observer in the Electro-Optical Tracking System

Abstract

This article presents a Robust Servo Linear Quadratic Regulator (RSLQR) method based on the Linear Extended State Observer (LESO), which solves the problem of optimal tracking control of electro-optical system under disturbance. For the problem that the accuracy of the electro-optical tracking system is reduced due to disturbance and modeling error, the LESO is adopted in this article to obtain and compensate the influence of internal and external disturbances in the controlled object model, so as to improve the disturbance suppression ability of the electro-optical tracking system. Considering the influence of weighting matrix in the RSLQR method on system's dynamic response performance, this article presents a selection criterion of weighting matrix in the RSLQR to meet the performance requirements of closed-loop system. Through simulation analysis and experimental verification, the design method proposed in this article has great reference value for the optimization of the dynamic response performance of the electro-optical tracking system and the improvement of the disturbance suppression ability.

Keywords

• LESO RSLQR disturbance suppression ability dynamic response performance electro-optical tracking system