关键词: 伺服跟踪系统, 干扰观测器, 复合控制

Abstract: To improve tracking accuracy of the servo tracking system mounted with a small arm，a complex CMAC-PD control algorithm is proposed，which is based on disturbance observer techniques.Friction，motor moment fluctuation，uncertainty of model parameters and other factors，which affect properties of the control system badly，are all regarded as disturbances.And a new disturbance observer is employed to estimate the disturbances，and disturbance compensation is operated by feedback of the estimated data.Then，a complex CMAC-PD-based control method is developed.Simulation results indicate the proposed algorithm can reject disturbances effectively，and hence can improve the tracking accuracy.

Key words: target tracking system, disturbance observer, complex control