Electro-Optical Tracking Control for Visual Time-Lag Compensation
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Solution Overview
Problem
Electro-optical tracking systems face difficulties in high-precision control due to visual-measurement time lag and kinematic uncertainty, particularly when tracking fast-moving targets, as existing compensation methods like the Smith predictor require high-precision models and do not account for kinematic uncertainty, leading to reduced control precision.
Innovation Solution
A compound controller is designed using an improved generalized proportional integral observer combined with a feedback linearization algorithm, which estimates system states and kinematic uncertainty to mitigate visual-measurement time lag and enhance tracking precision by calculating control inputs based on miss distance measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the Smith predictor is used to compensate for visual-measurement time lag, then the time lag compensation is achieved, but the model precision requirement becomes excessively high and is difficult to meet in practical applications
Solution Approach 1:
The patent transforms the high-precision model requirement into a gain tuning problem by parameterizing the observer gains L1, L2, L3 and controller gain K. Instead of requiring an exact system model, the method allows achieving desired performance through appropriate selection of these parameters, thereby resolving the contradiction between time lag compensation and model precision requirements
Solution Approach 2:
The patent creates a simplified copy of the system dynamics through the generalized proportional integral observer, which replicates the essential behavior without requiring the full complexity of the actual system model. This observer copy enables time lag compensation while avoiding the need for high-precision modeling of all system characteristics
2Device complexity
If only measurement time lag is processed while ignoring kinematic uncertainty, then the time lag compensation is simplified, but the control precision of the system is reduced
Solution Approach 1:
The patent merges the time lag compensation function with the kinematic uncertainty suppression function into a single unified controller. The compound controller simultaneously handles both the delayed measurement information and the uncertain kinematic disturbances, achieving both objectives without requiring separate complex control systems
Solution Approach 2:
The generalized proportional integral observer and compound controller are designed to perform multiple functions: compensating for visual-measurement time lag, suppressing kinematic uncertainty, and maintaining tracking precision. This multi-functional design avoids the need for separate specialized controllers for each problem
3Measurement precision
If a compound controller combining improved generalized proportional integral observer and feedback linearization algorithm is designed, then tracking precision and kinematic uncertainty suppression are improved, but the controller complexity increases
Solution Approach 1:
The patent segments the control system into distinct functional modules: the generalized proportional integral observer for state estimation and time lag compensation, the feedback linearization algorithm for uncertainty suppression, and the compound controller for integrated control. This modular segmentation makes the complex controller more manageable and implementable
Data Source
AI summary
The present invention provides a generalized proportional integral observer-based method for compensating for visual-measurement time lag of an electro-optical tracking system. For visual-measurement time lag present in an electro-optical tracking system, an improved generalized proportional integral observer-based feedback control method is used to mitigate the impact of the measurement time lag on the system and suppress kinematic uncertainty of the system. The core of the method lies in that an observer is used to estimate a state, uncertainty, and a difference of the system at a previous moment, a state and uncertainty of the system at a current moment are then calculated by using these estimated values and a state-space model of the system, and a control input of the system is finally acquired according to the estimated values of the state and uncertainty of the system at the current moment. The method mitigates the adverse impact of visual-measurement time lag on the system and enhances the uncertainty suppression and the tracking precision of the system.