公开(公告)号：US20210191344A1

公开(公告)日：2021-06-24

申请号：US17253558

申请日：2019-07-08

Applicant: SOUTHEAST UNIVERSITY

Inventor： Jun YANG ,  Xiangyang LIU ,  Jianliang MAO ,  Shihua LI

IPC: G05B13/02 ,  G05B11/42 ,  G05B11/32

Abstract: The present invention provides a generalized proportional integral observer-based method for compensating for visual-measurement time lag of an electro-optical tracking system. For visual-measurement time lag present in an electro-optical tracking system, an improved generalized proportional integral observer-based feedback control method is used to mitigate the impact of the measurement time lag on the system and suppress kinematic uncertainty of the system. The core of the method lies in that an observer is used to estimate a state, uncertainty, and a difference of the system at a previous moment, a state and uncertainty of the system at a current moment are then calculated by using these estimated values and a state-space model of the system, and a control input of the system is finally acquired according to the estimated values of the state and uncertainty of the system at the current moment. The method mitigates the adverse impact of visual-measurement time lag on the system and enhances the uncertainty suppression and the tracking precision of the system.