Application of Rapid Arctangent-based Tracking Differentiator to Stable Platform

To improve the tracking precision of the photoelectric servo-stabilized platform, we propose a compound control strategy based on disturbance compensation and digital feed-forward control to resolve the influence of disturbances. We use a disturbance observer to estimate and effectively compensate for system interference. Using a fast arctangent-based tracking differentiator to construct a digital feed-forward control, this continuous function method combines linear and nonlinear approaches to facilitate rapid and stable system convergence, so that the chattering phenomenon near the equilibrium point is suppressed, the tracking ability of the system is enhanced, and noise is effectively suppressed. The experimental results indicate that this control strategy can ensure the tracking accuracy of a photoelectric tracking system for moving targets. In addition, tracking error is reduced from 0.070° to less than 0.044°, and the robustness of the system is enhanced.