Feedforward control based on orthogonal least square for a charge-coupled device-based tracking loop

摘要

A prediction feedforward control based data fusion is proposed to enhance closed-loop performance in electro-optical tracking system. The aim of feedforward controller is to estimate the target trajectory and velocity by synthesizing line-of-sight error and angular position from the encoder. However, time delay existing in every data fusion algorithm will still affect the tracking performance. In this paper, an orthogonal least square (OLS) prediction method is proposed to improve the tracking precision. The transfer function of OLS in frequency domain is built to analyze the time-delay characteristics, which indicates a less time-delay and higher bandwidth than classical Kalman filters. In the experiments, 50 sampled data and second order polynomial are used in OLS to tracking unmanned aerial vehicle (UAV) by electro-optical tracking system. Some comparative experiments compared with Kalman filter show that the prediction feedforward control based on OLS has better performance for reducing the tracking error.