Cascade Active Disturbance Rejection Control for Photoelectric Tracking System

For the control task of the photoelectric tracking system (PTS) under the disturbance, a cascade active disturbance rejection control (CADRC) method is proposed. By introducing velocity closed-loop and ADRC, a novel control method with excellent disturbance rejection capability is obtained. The velocity closed-loop provides an ideal velocity plant for the system, and the ADRC ensures the excellent disturbance rejection ability of the system. The velocity controller is designed according to the plant model. By reasonably selecting the controller parameters, so that the velocity closed-loop is a low-pass filter, the outer loop adopts the ADRC method, and the outer loop plant in a certain frequency band is a reduced-order system modified by the velocity closed-loop. The bandwidth method is adopted to tune the parameters of the ADRC controller. Simulations and experiments verify the effectiveness of the proposed control method.