Disturbance Identification and Adaptive Compensation Method in Optical Target Tracking System

Abstract

External disturbance suppression is critical in highprecision optical target tracking systems. Although the traditional disturbance observation compensator (DOBC) method can improve anti-disturbance performance, its fixed structure limits its ability to handle variable disturbances. To improve the suppression ability of time-varying narrowband disturbances, we propose a disturbance identification and adaptive compensation method based on DOBC (DIAC-DOBC). The peak frequency of the observed disturbance can be obtained with high precision using AR parameter model identification. To design the Q filter, an improved notch filter structure is proposed, with parameters that can be adjusted automatically and a stronger suppression ability. Furthermore, the conditions for closed-loop stability and robust stability are detailed. Finally, the method's effectiveness is demonstrated through simulation and actual experimentation on an optical target tracking system with disturbances.