Design and implementation of an adaptive compensator for delay of tracker in tracking system

Delay of tracker in a tracking system includes sensor integration time, sensor readout time, any A/D, D/A conversion time and transportation time from tracker to the servo control system. These delays produce a harmful effect on stability and tracking accuracy of the system. For this reason, the effect of tracker delay on the tracking system is quantitatively analyzed in theory. A method for delay prediction and compensation, which is based on normalized LMS algorithm, is proposed. Results of experiments demonstrate the effectiveness of the method.