Cooperative Control Of Photoelectric In Switching Topology

Photoelectric tracking system is widely used in aerospace,precision guidance,ballistic measurement,target automatic tracking and space laser,quantum communication,fire prediction,maritime disaster rescue,earthquake relief,surveying and mapping and other civil scenes,in a variety of places inaccessible to human eyes play an irreplaceable role.With the continuous improvement of target mobility,more and more high requirements are put forward for the tracking accuracy and anti-interference performance of photoelectric tracking system.In this paper,two axes and two frames photoelectric tracking systemis taken as the control targets.Aiming at the problem of slow response speed and low tracking accuracy when the system is running.In order to improve the tracking speed and accuracy of the system,the idea of distributed cooperative control is introduced into the optoelectronic tracking system.Combined with algebraic graph theory and matrix theory and stability analysis theory,the consistency and robustness of photoelectric tracking system under fixed and switched topologies are studied.The effectiveness of the proposed control strategy is proved by MATLAB simulation.(1)Analyzing the structure of the optoelectronic tracking system.Based on mathematical graph theory and matrix theory,the topological network structure model of photoelectric tracking system is established.Due to the complexity of the modeling of servo mechanism,the kinematics model of the node servo mechanism is established by simplified approximation.(2)Considering that the photoelectric tracking system will inevitably be affected by the external environment and internal interference of the system,the tracking accuracy and robustness will be greatly reduced.In order to solve the above problems,a finite time disturbance observer based on backstepping method is proposed in this paper,which solves the problem that the state of the agent can not be measured,and realizes the rapid estimation and accurate compensation of the disturbance of the whole structure.(3)Under the premise of the finite-time interference compensation strategy,the consistency problem of multi-agent system under fixed topology is further studied.A consistent tracking controller based on dynamic surface sliding mode control(DSMC)is designed to achieve the system consistency,improve the tracking speed and tracking accuracy,overcome the expansion problem of differential terms in the traditional inverse design,and simplify the design process of the controller.(4)In order to improve the cooperative working ability of each actuator in the optoelectronic tracking system and the tracking ability of multiple targets,the consistency problem of multi-agent system under switching topology is studied.A fixed-time consistent control protocol based on event-triggered control is designed.It improves the convergence precision and speed of the system,greatly reduces the updating times of the controller,reduces the switching frequency of the actuator,and prolongs the service life of the actuator.