Add-on integration module-based proportional-integration-derivative control for higher precision electro-optical tracking system

Abstract

This paper concerns the improvement on proportional-integration-derivative (PID) control for the electro-optical tracking system for high-mobility targets. To achieve higher tracking precision and stronger disturbance rejection while fully utilizing the existing PID loop, the add-on integration module is proposed and seamlessly integrated into the conventional PID loop. It is proven that for any given conventional PID controller parameters, the add-on integration module based PID control can improve the ability of error attenuation at low frequency and keep the stability of resulting closed-loop system. More importantly, the feasible set of all parameters in the added module is explicitly given. Based on the feasible set, the non-dominated sorting genetic algorithm II (NSGA-II) is adopted to obtain the globally optimal controller’s parameter under certain performance indices. The experiments are carried out for a typical electro-optical tracking test bed with several reference signals. It is shown that the proposed method has much smaller tracking errors than the existing PID method.