Design of Backstepping Control Based on a Softsign Linear–Nonlinear Tracking Differentiator for an Electro-Optical Tracking System

Abstract

To address the problems of a low tracking accuracy and slow error convergence in high-order single-input, single-output electro-optical tracking systems, a backstepping control method based on a Softsign linear–nonlinear tracking differentiator is proposed. First, a linear–nonlinear tracking differentiator is designed in conjunction with the Softsign excitation function, using its output as an approximate replacement for the conventional differentiation process. Then, this is combined with backstepping control to eliminate the “explosion of complexity” problem in conventional backstepping procedures due to repeated derivation of virtual control quantities. This reduces the workload of parameter tuning, takes into account the rapidity and stability of signal convergence, and improves the trajectory tracking performance. This method can ensure the boundedness of the system signal. The effectiveness and superiority of this control method are verified through simulations and experiments.