Design of Tracking of Moving Target Using PID Controller

  IJETT-book-cover  International Journal of Engineering Trends and Technology (IJETT)
© 2014 by IJETT Journal
Volume-15 Number-8
Year of Publication : 2014
Authors : Ajeet Singh , Dr. S. Chatterjee , Ritula Thakur


Ajeet Singh , Dr. S. Chatterjee , Ritula Thakur. "Design of Tracking of Moving Target Using PID Controller", International Journal of Engineering Trends and Technology (IJETT), V15(8),403-406 Sep 2014. ISSN:2231-5381. published by seventh sense research group


The Line-of-Sight stabilization and tracking control based on gyro stabilized platform is required to isolate Line of sight from the movement and vibration of carrier and ensure pointing and tracking for target in electro-optical tracking system. This work describes the design of a high performance controller for an electro-mechanical target tracking system with an optical sensor for sighting. The control law has been obtained using a linear model of the electro mechanical system. The modelling of the system has been carried out using the experimental frequency response data. In the present work, PID controller is used to design the line-of-sight stabilization and tracking system. The conventional PID controller has been incorporated to regulate the speed of the platform and moving object. The PID controller has been tuned using Ziegler Nichols method and optimized by using simplex pattern search Genetic Algorithm method. The performance of the optimized PID controller has been compared with the PID controller. The proposed controller has been tested by incorporated non-linearity into the system. Simulation results tested with conventional PID controller and optimized PID controller. It is observed that optimized PID controller provided better result


[1] Michael K. Masten and Henry R. Sebesta, “Line-of-Sight Stabilization/Tracking Systems: An Overview”, Proceeding of the IEEE Conference on American Control, Minneapolis, MN, USA, pp. 1477-1482,10-12 June 1987.
[2] Peter J. Kennedyand Rhonda L. Kennedy, “Direct Versus Indirect Line of Sight (LOS) Stabilization”, IEEE Transactions on Control Systems Technology, Vol. 11, and No.1, pp. 3-15 January 2003.
[3] Vladimir N. Dobrokhodov, Isaac I. Kaminer, Kevin D. Jones, and Reza Ghabcheloo, “Vision-Based Tracking and Motion Estimation for Moving targets using Small UAVs”, Proceedings of the IEEE Conference on American Control Minneapolis, Minnesota, USA, June 14-16, 2006.
[4] Dr. H. Ambrose, Z. Qu and R. Johnson, “Nonlinear robust control for a passive line-of-sight stabilization system”, Proceeding of the IEEE conference on Control Application, Mexico City, Mexico, pp. 942-947, September 5-7, 2001.
[5] Tian Qi, Wenzhou Su and Jie Chen, “Optimal Tracking Design and Performance Analysis for LTI Systems with Quantization Effects”, Proceeding of the 48th IEEE Conference on Decision and Control, China, pp.4945-4950, December 16-18, 2009.
[6] Chong Jiang, Dexin Zou, Qingling Zhang, and Heli Hu, “Optimal Tracking Control for a Class of Large-Scale Interconnected system with Time-varying Delay”, Proceeding of the International Conference IEEE on Control and Automation Guangzhou, China, pp.2529 – 2534, May 30 June 1, 2007.
[7] Zhong-Hua Li and Miroslav Krstic, “Optimal Design of Adaptive Tracking Controllers for Nonlinear Systems”, Proceedings of the American Control Albuquerque conference, New Mexico,Vol. 2, pp. 1191-1197, June 1997.
[8] Hongwei Zhang, Frank L. Lewis, and Zhihua Qu “Lyapunov, Adaptive, and Optimal Design Techniques for Cooperative Systems on Directed Communication Graphs”, IEEE Transactions on Industrial Electronics, Vol. 59, pp. 3026-3041,7 July 2012.
[9] Yandong Zhao and Xianli Chen, “Design of Optimal Tracking Controller for Systems with Control-Affine Form”, Proceedings of the IEEE International Conference on Automation and Logistics, Jinan, China, pp.2472-2476, August 18 - 21, 2007.
[10] Maria Nevia Ferrara and Andrea Torre, “Automatic moving targets detection using a rule-based system: comparison between different study cases”, Proceeding of international symposium on Geosciences and remote sensing, Vol. 3, pp. 1593-1595, 6-10 July 1998.
[11] Liang Sun and Hong-Wei GAO, “Approximately Optimal Tracking Controller Design for Nonlinear Interconnected Large-Scale Systems with Time Delays”, Proceeding of the 7th World Congress on Intelligent Control and Automation, Chongqing, China, pp. 905-910,25 - 27 June 2008.
[12] Cheng-Ming Zhang, Gong-You Tang and Shi-Yuan Han, “Approximate design of optimal tracking controller for systems with delayed state and control”, Proceedings of the International Conference on Control and Automation Christchurch, New Zealand, pp. 1168-1172, 9-11 December 2009.
[13] Ying-Lu Zhang and Gong-You Tang, “Approximate Design of Optimal Tracking Controller for Linear Systems with Time-delay”, Proceedings of the International Conference on Systems, Man, and Cybernetics, Taipei, Taiwan,pp.4557-4562, 8-11 October 2006.
[14] Xiao-Han Wang, Gong-You Tang, and Hai-Hong Wang, “Approximate Design of Optimal Output Tracking Controller for Time-Delay Systems with Sinusoidal Disturbances”, Proceedings of the 9thInternational Conference on Control, Automation, Robotics and Vision, Singapore, pp. 1-6, 5-8 December 2006.
[15] Alan J. Lipton, Hironobu Fujiyoshi and Raju S. Patil, “Moving Target Classification and Tracking from Real-time Video”, Proceedings of the IEEE 4th Workshop on Applications of Computer Vision, Princeton, pp.8-14, 19-21 October 1998.
[16] Peter I. Corke and Seth A. Hutchinson, “Real-Time Vision, Tracking and Control”, Proceedings of the International Conference on Robotics & Automation, San Francisco, CA, pp.622-629, 24-28 April 2000.

LOS, PID, GAPID, Stabilization, Tracking.