A novel velocity and acceleration delay compensation method for optoelectronic tracking servo system

In order to track maneuvering targets fast and accurately, a novel velocity and acceleration delay compensation method is presented. Based on structure analysis of a certain system, the target velocity is contributed to exterior unknown disturbance and the system parameter change is looked as interior unknown disturbance. The controller can compensate the disturbance furthest by using extend state observer and tracking differentiator to estimate the disturbance accurately. Without using the sensor to measure the target state, experimental results indicate that the system with a simple structure can fast track maneuvering targets while the maximal tracking error less than 0.1 mrad and the maximum overshoot less than 10% with good robust performance.