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

摘要： 为提高轻武器伺服跟踪系统的位置跟踪精度，提出一种基于干扰观测器的CMAC-PD复合控制方法。将摩擦、电机力矩波动和模型参数不确定性等影响系统性能的因素视为干扰，采用一种新型的干扰观测器对其进行估计并加以补偿。在此基础上，提出一种基于CMAC与PD的复合控制方法。对比仿真实验表明，基于干扰观测器的CMAC-PD复合控制能更有效地抑制干扰对轻武器伺服跟踪系统动态性能的影响，进而使系统获得更高的跟踪精度。

关键词: 伺服跟踪系统, 干扰观测器, 复合控制