Abstract: Electro-optical tracking systems have been widely used in the cutting-edge domains of free space environment detection and communication owing to their exceptional performance. However, external disturbances often significantly impact the working accuracy of these systems. As their scope of application continues to broaden, increasingly complex operating conditions introduce more intricate environments and disturbances. This paper introduces a composite control structure of an enhanced error-based observer, rooted in the repetitive control strategy, tailored for two types of complex disturbances: periodic harmonic disturbance and narrow-band peak periodic disturbance. This structure not only ensures the system’s stability, but also suppresses periodic disturbances across multiple frequencies, effectively addressing the challenge that current disturbance suppression methods face in mitigating complex periodic disturbances. Moreover, necessary proofs are provided and an experimental platform is established for the electro-optical system, demonstrating the efficacy and reliability of the proposed control methods under various conditions.

光电跟踪系统中基于重复控制策略改进的误差观测器

[1]Astolfi D, Marx S, van de Wouw N, 2021. Repetitive control design based on forwarding for nonlinear minimum-phase systems. Automatica, 129:109671.

[2]Beaulieu-Laroche L, Brown NJ, Hansen M, et al., 2021. Allometric rules for Mammalian cortical layer 5 neuron biophysics. Nature, 600(7888):274-278.

[3]Berkefeld T, Soltau D, Schmidt D, et al., 2010. Adaptive optics development at the German solar telescopes. Appl Opt, 49(31):G155-G166.

[4]Caruso H, 2001. MIL-STD-810F, test method standard for environmental engineering considerations and laboratory tests. J IEST, 44(3):30-34.

[5]Chen X, Tomizuka M, 2013. New repetitive control with improved steady-state performance and accelerated transient. IEEE Trans Contr Syst Technol, 22(2):664-675.

[6]Deng JQ, Zhou X, Mao Y, 2021. On vibration rejection of nonminimum-phase long-distance laser pointing system with compensatory disturbance observer. Mechatronics, 74:102490.

[7]Deng JQ, Xue WC, Zhou X, et al., 2022. On dual compensation to disturbances and uncertainties for inertially stabilized platforms. Int J Contr Automat Syst, 20(5):1521-1534.

[8]Deng JQ, Xue WC, Liang W, et al., 2023. On adjustable and lossless suppression to disturbances and uncertainties for nonminimum-phase laser pointing system. ISA Trans, 136:727-741.

[9]Dong QR, Liu YK, Zhang YL, et al., 2018. Improved ADRC with ILC control of a CCD-based tracking loop for fast steering mirror system. IEEE Photon J, 10(4):1-14.

[10]Downey G, Stockum L, 1989. Electro-optical tracking systems considerations. Proc SPIE 1111, Acquisition, Tracking, and Pointing III, p.70-84.

[11]Fedele G, Ferrise A, 2014. Periodic disturbance rejection with unknown frequency and unknown plant structure. J Franklin Inst, 351(2):1074-1092.

[12]Hara S, Yamamoto Y, Omata T, et al., 1988. Repetitive control system: a new type servo system for periodic exogenous signals. IEEE Trans Automat Contr, 33(7):659-668.

[13]Inoue T, Nakano M, Kubo T, et al., 1981. High accuracy control of a proton synchrotron magnet power supply. IFAC Proc Vol, 14(2):3137-3142.

[14]Kalita A, Mrozek-McCourt M, et al., 2023. Microstructure and crystal order during freezing of supercooled water drops. Nature, 620(7974):557-561.

[15]Kennedy PJ, Kennedy RL, 2003. Direct versus indirect line of sight (LOS) stabilization. IEEE Trans Contr Syst Technol, 11(1):3-15.

[16]Lan YH, He JL, Li P, et al., 2020. Optimal preview repetitive control with application to permanent magnet synchronous motor drive system. J Franklin Inst, 357(15):10194-10210.

[17]Lee HS, Tomizuka M, 1996. Robust motion controller design for high-accuracy positioning systems. IEEE Trans Ind Electron, 43(1):48-55.

[18]Lee JS, Lim SY, Kim I, et al., 2016. An adaptive disturbance rejection method with stability enhancement using adjustable dead zone for hard disk drives. IEEE Trans Magn, 53(3):1-9.

[19]Li ZJ, Mao Y, Qi B, et al., 2022. Research on control technology of single detection based on position correction in quantum optical communication. Opto-Electron Eng, 49(3):210311 (in Chinese).

[20]Longman RW, 2000. Iterative learning control and repetitive control for engineering practice. Int J Contr, 73(10):930-954.

[21]Lu LL, Wang XQ, Jin LH, et al., 2024. Current optimization-based control of dual three-phase PMSM for low-frequency temperature swing reduction. Def Technol, 34:238-246.

[22]Madsen LS, Laudenbach F, Askarani MF, et al., 2022. Quantum computational advantage with a programmable photonic processor. Nature, 606(7912):75-81.

[23]Nie K, Li ZJ, Guo T, et al., 2021. Improved repetitive control with model-assisted extended state observer for optoelectronic tracking system. Proc IEEE 10^th Data Driven Control and Learning Systems Conf, p.360-366.

[24]Niu SX, Yang T, Tang T, et al., 2019. Wideband vibrations rejection of tip-tilt mirror using error-based disturbance observer. IEEE Access, 8:5131-5138.

[25]Ohishi K, Nakao M, Ohnishi K, et al., 1987. Microprocessor-controlled DC motor for load-insensitive position servo system. IEEE Trans Ind Electron, IE-34(1):44-49.

[26]Ren W, Luo Y, He QN, et al., 2018. Stabilization control of electro-optical tracking system with fiber-optic gyroscope based on modified Smith predictor control scheme. IEEE Sens J, 18(19):8172-8178.

[27]Ricks TP, Burton MM, Cruger W, et al., 2004. Stabilized electro-optical airborne instrumentation platform (SEAIP). Proc SPIE 5268, Chemical and Biological Standoff Detection, p.202-209.

[28]Shamsuzzoha M, Lee M, 2009. Enhanced disturbance rejection for open-loop unstable process with time delay. ISA Trans, 48(2):237-244.

[29]Shen XN, Liu JX, Alcaide AM, et al., 2022. Adaptive second-order sliding mode control for grid-connected NPC converters with enhanced disturbance rejection. IEEE Trans Power Electron, 37(1):206-220.

[30]Snigirev V, Riedhauser A, Lihachev G, et al., 2023. Ultrafast tunable lasers using lithium niobate integrated photonics. Nature, 615(7952):411-417.

[31]Sobhy A, Lei D, 2021. Model-assisted active disturbance rejection controller for maximum efficiency schemes of DFIG-based wind turbines. Int Trans Electr Energy Syst, 31(11):e13107.

[32]Somaschini R, Bianchi G, Scaccabarozzi D, et al., 2019. Characterization of commercial fast steering mirrors for space application. Proc IEEE 5^th Int Workshop on Metrology for AeroSpace, p.468-472.

[33]Tang T, Niu SX, Yang T, et al., 2019. Vibration rejection of tip-tilt mirror using improved repetitive control. Mech Syst Signal Process, 116:432-442.

[34]Tian MH, Wang B, Yu Y, et al., 2021. Discrete-time repetitive control-based ADRC for current loop disturbances suppression of PMSM drives. IEEE Trans Ind Inform, 18(5):3138-3149.

[35]Wang YC, Zheng LF, Zhang HG, et al., 2020. Fuzzy observer-based repetitive tracking control for nonlinear systems. IEEE Trans Fuzzy Syst, 28(10):2401-2415.

[36]Ye J, Liu LG, Xu JB, et al., 2021. Frequency adaptive proportional-repetitive control for grid-connected inverters. IEEE Trans Ind Electron, 68(9):7965-7974.

[37]Zhang H, Sun Y, 2003. Bode integrals and laws of variety in linear control systems. Proc American Control Conf, p.66-70.

[38]Zhao T, Tong W, Mao Y, 2023. Hybrid nonsingleton fuzzy strong tracking Kalman filtering for high precision photoelectric tracking system. IEEE Trans Ind Inform, 19(3):2395-2408.

[39]Zheng YS, Cao ZW, Man ZH, et al., 2021. Phase-lead repetitive control of a PMSM with field-oriented feedback linearization and a disturbance observer. Proc 47^th Annual Conf of the IEEE Industrial Electronics Society, p.1-4.

[40]Zhou L, She JH, Zhang XM, et al., 2020. Improving disturbance-rejection performance in a modified repetitive-control system based on equivalent-input-disturbance approach. Int J Syst Sci, 51(1):49-60.

[41]Zhou X, Mao Y, Zhang H, et al., 2022. Resonance compensation research of tip-tilt mirror’s 2-DOF tracking-disturbance rejection problem. Sens Actuat A Phys, 346:113837.