Opto-Electronic Platform Stabilized Anti-disturbance Tracking Controller Based on Reference Observer and Disturbance Observer

Aiming at the two axis Opto-Electronic Platform, in order to diminish the influences caused by the friction disturbance moment and the disturbance of the UAV angular motion, disturbance compensation control based on a disturbance observer is introduced into this system. On the other hand, to track a specific signal quickly with a high accuracy, feedforward control based on a reference observer which can generate reference inputs and states is used. Besides, a state feedback LQR controller is also employed. So the whole control system is composed of feedforward control, disturbance compensation and a state feedback LQR controller. The comparative simulation results show that the control system proposed in this paper can track the desired signal stably and quickly, and the tracking accuracy is also improved.