中文摘要：

在目标自动跟踪系统设计中，为了简化系统结构设计以实现越来越多复杂功能的综合，提出了按控制误差实现功能综合的理论方法，并给出了基于自抗扰技术实现功能综合的完整解决方案．将目标运动速度视为系统扰动，采用扩张状态观测器实时估计并加以补偿．在提高控制性能的同时，用跟踪微分器对目标运动速度进行滤波并提取其一阶导数，结合其他传感器测量值实现对目标运动状态的估计等信息处理功能．实验结果表明：系统跟踪机动目标的误差小于0．1mrad，响应快速、超调小于10％，对目标的运动状态估计精确；该方法结构简单，只需改造现有控制器的软件，即可高性能地实现多种功能的综合，适应于今后系统功能的发展．

英文摘要：

In designing the target-tacking system, in order to simplify the system structure but realize more complex functions, we propose an error-based technique for designing the sightline controller, and put forth a complete project for active disturbance rejection. In this project the target velocity is detected as unknown disturbance which is estimated in real- time and compensated by an augmented state-observer. To improve the control performances, a tracking differentiator（TD） is used as a filter for estimating the target velocity and acceleration. This information is integrated with the measured values from other sensors for estimating the dynamic states of the target system. Experimental results show that this system can track rapidly maneuvering targets with tracking-error less than 0.1mrad and maximum overshoot ratio less than 10%, satisfying the integrated multi-functional requirements. By modifying the software in the controller, this project can easily be carried over to other multi-functional control applications.