Photoelectric Turret Control Method Based on Predictive Tracking and Sliding Mode Variable Structure Control with Extended State Observer

• Published in: 2024 IEEE 25th China Conference on System Simulation Technology and its Application (CCSSTA) pp. 435 - 439
• Main Authors: Chen, Xuning, Jiang, Haonan, Cai, Yuanli
• Format: Conference Proceeding
• Language: English
• Published: IEEE 21.07.2024
• Subjects: Accuracy; compensate; delay; Delays; Observers; photoelectric turret; Prediction algorithms; Process control; Sliding mode control; sliding mode variable structure control; System performance; Systems simulation; Target tracking; Torque; tracking differentiator
• DOI: 10.1109/CCSSTA62096.2024.10691729

The friction torque and some other external disturbances existing in the servo system of the photoelectric turret will affect the control accuracy of the turret motion. At the same time, there is a delay problem in the off-target amount of information transmitted by the video tracker in the system, which will result in the tracking hysteresis of the system, thus significantly affecting the timeliness and accuracy of the control. To address the above two problems, in this paper, we propose a control strategy that combines a sliding mode variable structure control method based on an extended state observer with a novel tracking differentiator. The tracking differentiator compensates for the delayed information transmission, and the observer estimates the disturbance to compensate the system. Meanwhile, the observations are used to design the sliding mode control law, enabling the system to stabilize and converge quickly, suppressing the chattering phenomenon. Simulation results show that compared to traditional sliding mode control, this method reduces the maximum tracking error to 4% of the original one. Compared to predictive sliding mode control with an adaptive proportional coefficient, it reduces the maximum tracking error to 1/5 of the original one.