Disturbance-Observer-Based LQR Tracking Control for Electro-Optical System

Abstract

To improve the dynamic property and the disturbance suppression ability of an electro-optical tracking system, this paper presents a disturbance-observer-based LQR tracking control method. The disturbance-observer-based robust controller is composed of three parts: one is the LQR tracking controller, one is the reference model controller and the other is a compensatory controller designed with the output of the disturbance observer. The uncertainty and disturbances are considered in the controller design. By Lyapunov stability theory and linear matrix inequality (LMI) technique, the sufficient conditions for observer gain and controller gain of the tracking reference model of the electro-optical system are given. Simulation and experimental results show that the proposed method in this paper not only improved the disturbance suppression ability of the electro-optical tracking system but also improved the dynamic property of the electro-optical tracking system, such as rise time, settling time and system overshoot. Specially, compared with other methods in this paper, the tracking accuracy and the disturbance suppression ability of the proposed method are about two to three times higher. The method presented in this paper has important reference value in the field of electro-optical system applications. But, with the development of electro-optical system applications, the tracking accuracy and disturbance suppression ability of the proposed method cannot meet the actual requirements of an electro-optical system. The next step of this paper will consider a variety of practical requirements, such as the controller saturation problem and tracking reference target with strong maneuverability, and further optimize the proposed method.

Keywords

• disturbance-observer-based control (DOBC)
• LQR
• LMI technique
• Lyapunov stability theory
• electro-optical tracking platform