A novel fuzzy extended state observer-based control for electro-optical tracking system with disturbances and measurement noises: Design, analysis and experiments

Abstract

In the electro-optical tracking system (ETS), the stability of line-of-sight (LOS) is usually limited by low and medium-frequency disturbances and measurement noises. Conventionally, the active disturbance rejection control (ADRC) strategy is an effective method to improve the stability of LOS; however, it is limited by the fixed observer bandwidth, which is the parameter of the extended state observer (ESO). Besides that, for conventional ESO, the conflict exists between disturbance rejection ability and noise attenuation ability. In this paper, this problem is tackled by transforming the ESO which is the core element of ADRC, into a novel fuzzy self-tuning observer structure. The proposed method is experimentally validated to effectively ensure the stability of the LOS after obtaining an optimal trade-off between disturbance rejection ability and noise attenuation ability.