Disturbance-Observer-Based LQR Tracking Control for Electro-Optical System
Round 1
Reviewer 1 Report
1. More relevant research literatures should be added.
2. Please check page 8, line 216 'Fig. 4'. Please check the position of Fig. 3 and improve format of the paper.
3. Please check Fig. 5 and I can not see lines of 'disturbed signal' and 'observer output in this paper'. Please check Figs. 8 and 9.
4. More experiments should be reported to enhance the technical quality and the contributions of the methods.
5. You should analyze theexperimental results in detail. In addition, Please discuss the limatations and shortcomings of the proposed method.
6. You should explain the reasons for the performance imporvement of the new method.
Moderate editing of English language required
Author Response
Authors’ Responses to the Editor and Reviewers
Title: Disturbance observer-based LQR tracking control for electro-optical system
Dear Editor and Reviewers:
Thanks for the letter and the reviewers’ insightful comments, which have helped us to clarify several issues in our manuscript. Those comments are all valuable and helpful for revising and improving our paper, as well as the important guiding significance to research. We have studied the opinions carefully and have made corrections one by one. We have made every possible effort to address the concerns raised by the reviewers and revised the manuscript according to the suggestions. In the revised manuscript, the changes made according to reviewer #1 are marked in red. The following are the reviewers’ comments and the author’s responses.
We have tried our best effort to improve the manuscript and made some changes to the manuscript. We appreciate the Editors' and Reviewers’ warm work earnestly and hope that the corrections will meet with approval.
Once again, thank you so much for the comments and suggestions.
Sincerely,
Yao Mao
Email: maoyao@ioe.ac.cn
Comment 1: More relevant research literatures should be added.
Response:
We are grateful for your comments. We add more related research literature to illustrate the feasibility of the proposed method. In the reference section, we introduce it specifically according to the methods mentioned in the Latest literature and further explain the realizability of the methods mentioned in the article.
Comment 2: Please check page 8, line 216 'Fig. 4'. Please check the position of Fig. 3 and improve format of the paper.
Response:
Thank you for the advice. According to your suggestion, we have modified the inappropriate expressions and the position of Fig. 3 to improve format of the paper.
Comment 3: Please check Fig. 5 and I cannot see lines of 'disturbed signal' and 'observer output in this paper'. Please check Figs. 8 and 9.
Response:
Thanks for your valuable suggestion. we have modified the inappropriate expressions in the paper.
Comment 4: More experiments should be reported to enhance the technical quality and the contributions of the methods.
Response:
Thank you for your comments. The simulation comparison in our paper is mainly based on tracking position and speed signals to illustrate the effectiveness of the method. Therefore, for the experimental part, we only need to track position and speed signals to compare the effects of different methods and whether they are consistent with the simulation effects. In response to your suggestions, we re-strengthen the comparative analysis of the simulation part and the experimental part of the paper, hoping to give readers a clear explanation.
Comment 5: You should analyze the experimental results in detail. In addition, please discuss the limitations and shortcomings of the proposed method.
Response:
Thank you for the careful reading and valuable comments, we have analyzed the experimental results in detail. In addition, we add the prospect of future work, and analyze the limitations and improvements of the method in this paper.
Comment 6: You should explain the reasons for the performance improvement of the new method.
Response:
Thank you for your comments. The method in the paper combines the DOB with control method and the LQR control method. Under the same disturbance condition, by comparing the simulation of different methods, it can be concluded that the dynamic response performance and disturbance suppression ability of the system under the proposed method are improved. The improvement of dynamic response performance of the system is mainly due to the good frequency response characteristics of the LQR tracking controller. The disturbance observer with performance index and the model reference tracking controller aim to enhance the robustness and anti-disturbance capacity for the system.
Comment 7: Comments on the Quality of English Language: Moderate editing of English language required.
Response:
Thank you for your advice, we have asked colleague who speaks English to correct the details in this manuscript and highlighted the modifications.
Reviewer 2 Report
Paper Summary:
This work describes an interruption observer-based LQR tracking management approach for dealing with modelling error and unpredictable disturbance in an electro-optical monitoring system of control.
The disturbance observer-based robust controller is composed of three parts: a LQR controller created using the linear matrix inequality (LMI) approach, a reference model controller, and a compensating controller designed using the disturbance observer output. The controller design takes unpredictability and disturbances into account. The adequate conditions for observers gain and controller gain of the tracked references model of the electro-optical system are presented using Lyapunov stability theory and the LMI approach. Finally, the suggested method's benefits and efficacy are validated using an electro-optical tracking platform.
Paper Comments:
The following statements are some comments about the paper:
1. The introduction section need more background specially about LQR method I thin k can be furnished with some new papers like:
Abbasi, A., & Moshayedi, A. J. (2018). Trajectory tracking of two-wheeled mobile robots, using LQR optimal control method, based on computational model of KHEPERA IV. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 10(3), 41-50.
2. Paper writing method and Quality
· The motivation of the paper should be improved. And please write your research contribution with number order
· Please check the whole manuscript for types and grammar errors. Language of the paper should be improved.
· Some minor grammatical mistakes are there, read carefully and correct them.
· Please clearly refer and write about your words data based and sample test
· In the conclusion part please write the exact improvement number by using your proposed method.
3. Figures:
· The text inside all the figures should be more clear and visible.
· Explain what is shown in figure 2.
· Explain what is shown in figure 3 & 4. Explain what the graph shows?
4. Tables:
· No tables used, I would recommend to use some tables to show the results.
5. Equations:
· Please write a little short summery of 5 to 6 lines about the equations/algorithms used. You should say what these all equations means and what does they do.
6. References:
· Please use the most recent references for the paper, i.e, starting from 2019 till date.
7. Authors are requested to make typesetting strictly according to the paper template on the conference website.
Paper Summary:
This work describes an interruption observer-based LQR tracking management approach for dealing with modelling error and unpredictable disturbance in an electro-optical monitoring system of control.
The disturbance observer-based robust controller is composed of three parts: a LQR controller created using the linear matrix inequality (LMI) approach, a reference model controller, and a compensating controller designed using the disturbance observer output. The controller design takes unpredictability and disturbances into account. The adequate conditions for observers gain and controller gain of the tracked references model of the electro-optical system are presented using Lyapunov stability theory and the LMI approach. Finally, the suggested method's benefits and efficacy are validated using an electro-optical tracking platform.
Paper Comments:
The following statements are some comments about the paper:
1. The introduction section need more background specially about LQR method I thin k can be furnished with some new papers like:
Abbasi, A., & Moshayedi, A. J. (2018). Trajectory tracking of two-wheeled mobile robots, using LQR optimal control method, based on computational model of KHEPERA IV. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 10(3), 41-50.
2. Paper writing method and Quality
· The motivation of the paper should be improved. And please write your research contribution with number order
· Please check the whole manuscript for types and grammar errors. Language of the paper should be improved.
· Some minor grammatical mistakes are there, read carefully and correct them.
· Please clearly refer and write about your words data based and sample test
· In the conclusion part please write the exact improvement number by using your proposed method.
3. Figures:
· The text inside all the figures should be more clear and visible.
· Explain what is shown in figure 2.
· Explain what is shown in figure 3 & 4. Explain what the graph shows?
4. Tables:
· No tables used, I would recommend to use some tables to show the results.
5. Equations:
· Please write a little short summery of 5 to 6 lines about the equations/algorithms used. You should say what these all equations means and what does they do.
6. References:
· Please use the most recent references for the paper, i.e, starting from 2019 till date.
7. Authors are requested to make typesetting strictly according to the paper template on the conference website.
Author Response
Authors’ Responses to the Editor and Reviewers
Title: Disturbance observer-based LQR tracking control for electro-optical system
Dear Editor and Reviewers:
Thanks for the letter and the reviewers’ insightful comments, which have helped us to clarify several issues in our manuscript. Those comments are all valuable and helpful for revising and improving our paper, as well as the important guiding significance to research. We have studied the opinions carefully and have made corrections one by one. We have made every possible effort to address the concerns raised by the reviewers and revised the manuscript according to the suggestions. In the revised manuscript, the changes made according to reviewer #2 are marked in green. The following are the reviewers’ comments and the author’s responses.
We have tried our best effort to improve the manuscript and made some changes to the manuscript. We appreciate the Editors' and Reviewers’ warm work earnestly and hope that the corrections will meet with approval.
Once again, thank you so much for the comments and suggestions.
Sincerely,
Yao Mao
Email: maoyao@ioe.ac.cn
- Responses to Reviewer #2
Comment 1: The introduction section needs more background specially about LQR method I think can be furnished with some new papers like: Abbasi, A., & Moshayedi, A. J. (2018). Trajectory tracking of two-wheeled mobile robots, using LQR optimal control method, based on computational model of KHEPERA IV. Journal of Simulation and Analysis of Novel Technologies in Mechanical Engineering, 10(3),41-50.
Response:
Thank you for the careful reading and valuable comments. We have strengthened the background on the LQR method in the introduction.
Comment 2: Paper writing method and Quality.
- The motivation of the paper should be improved. And please write your research contribution with number order.
- Please check the whole manuscript for types and grammar errors. Language of the paper should be improved.
- Some minor grammatical mistakes are there, read carefully and correct them.
- Please clearly refer and write about your words data based and sample test.
- In the conclusion part please write the exact improvement number by using your proposed method.
Response:
Thank you for your valuable comments.
- Based on your advice, we have strengthened the description of the research motivation and the description of the contribution points of the paper.
- we have asked colleague who speaks English to correct the details in this manuscript and highlighted the modifications.
- we have asked colleague who speaks English to correct the details in this manuscript and highlighted the modifications.
- Based on your advice, we re-strengthened the analysis and discussion in the simulation and experiment parts of the paper to make the motivation of the paper and the effect of the method proposed in the paper clearer, and there are specific marks in the paper.
- Based on your advice, in the conclusion part of the paper, we add the specific number of the improvement of the proposed method.
Comment 3: Figures:
- The text inside all the figures should be more clearly and visible.
- Explain what is shown in figure 2.
- Explain what is shown in figure 3 & 4. Explain what the graph shows?
Response:
Thank you for the advice.
- We adjusted the text in the figures to make it clearer.
- Combining the model reference control, disturbance observer-based control with performance index, an LQR tracking controller is proposed for the electro-optical tracking system, which is shown in Fig. 2. Figure 2 is the block diagram of disturbance observer-based LQR tracking control.
- Figure 3 is the response comparison diagram of the electro-optical system tracking reference position under sinusoidal disturbance. The reference position signal is generated by Eq. (40). Figure 3 shows the response curve of the system tracking the reference position signal with different control methods under the same disturbance.
Figure 4 is the response comparison diagram of the electro-optical system tracking reference speed under sinusoidal disturbance. The reference speed signal is generated by Eq. (40). Figure 4 shows the response curve of the system tracking the reference speed signal with different control methods under the same disturbance.
Comment 4: Tables: No tables used, I would recommend to use some tables to show the results.
Response:
We are grateful for your comments. Based on your advice, we added a table comparing the performance of different methods.
Comment 5: Equations: Please write a little short summery of 5 to 6 lines about the equations/algorithms used. You should say what these all equations means and what does they do.
Response:
Thanks for your valuable suggestion. According to your suggestion, we have added a summary statement about the proposed methods to the paper and made a corresponding introduction.
Comment 6: References: Please use the most recent references for the paper, i.e, starting from 2019 till date.
Response:
Thank you for the advice. We have updated the latest references in the paper.
Comment 7: Authors are requested to make typesetting strictly according to the paper template on the conference website.
Response:
Thanks for your valuable suggestion. According to your suggestion, we have made typesetting strictly according to the paper template on the conference website.
Reviewer 3 Report
The evaluated article describes a carefully executed research work, but not in the field of Photonics, but in the area of Control Theory or of Electrical Drives. The only link to Photonics is the term "electro-optical tracking platform" used, which is not described in detail. The proposed mathematical model does not include any optical parameters of the developed model, nor does it provide their effect on model control errors. Wanting to keep coincidence, the subject of the article with the profile of the magazine, I recommend supplementing the content of the article.
In particular, please complete the Introduction, describing the practical possibilities of using the proposed method.
Then, please describe in detail the features and specify the technical parameters of the modules and their values: The beacon light, A static mirror and Target Detector - which are shown in Figure 1 on page 3. Please include the influence of the optical parameters of the above modules in the mathematical model of the system presented.Then, please describe in detail the features and specify the technical parameters of the modules and their values: The beacon light, A static mirror and Target Detector - which are shown in Figure 1 on page 3. Please include the influence of the optical parameters of the above modules in the mathematical model of the system presented.
Further, please describe the control algorithm of the Controller module in Figure 1.
Finally, please add a readable photo of the Controller module in Figure 6, please include an electronic schematic chart of this Controller, and describe the above drawings and how the Controller works with the other modules.
In the Conclusions section, please compare the advantages and disadvantages of the developed method, in relation to other similar used methods with which the authors are familiar. Please manifest the "advantages and effectiveness" mentioned in Abstract.
The literature entry [6] "Prototype development of multi-target tracking system for space multi-node laser communication network. Optik, 274:170552, 2023" is inaccurately stated. Please cite the authors.
There are errors in citing literature, such as [[15?]] on page 2 line 65. Literature is cited in single brackets rather than double brackets, i.e., for example, [3] rather than [[3]] - please correct this throughout the article.
The language of the article is understandable, although there are excessively long sentences - such as on page 2 in line 41. Such a sentence is hardly understandable and tiresome for the reader - please divide the long sentences into 2 shorter ones.
Please clarify the text in Abstract. Once it says LMI in parentheses, and another place without parentheses. Are you sure line 7 was about observer gain and controller gain, i.e. observer object gain and controller object/person gain ? Or was it about observer gain and controller gain ?
The eternal problem with translators:
- the cook cooked the soup,
or:
- the soup cooked the cook ?
The Abstract should include numerical, measurable results.
Conclusions is not a rewriting of Abstract, but in a different way. Please make your conclusions longer and on merits in the 13-page article.
Author Response
Comment 1: The evaluated article describes a carefully executed research work, but not in the field of Photonics, but in the area of Control Theory or of Electrical Drives. The only link to Photonics is the term "electro-optical tracking platform" used, which is not described in detail. The proposed mathematical model does not include any optical parameters of the developed model, nor does it provide their effect on model control errors. Wanting to keep coincidence, the subject of the article with the profile of the magazine, I recommend supplementing the content of the article.
- In particular, please complete the Introduction, describing the practical possibilities of using the proposed method.
- Then, please describe in detail the features and specify the technical parameters of the modules and their values: The beacon light, A static mirror and Target Detector - which are shown in Figure 1 on page 3. Please include the influence of the optical parameters of the above modules in the mathematical model of the system presented. Then, please describe in detail the features and specify the technical parameters of the modules and their values: The beacon light, A static mirror and Target Detector - which are shown in Figure 1 on page 3. Please include the influence of the optical parameters of the above modules in the mathematical model of the system presented.
- Further, please describe the control algorithm of the Controller module in Figure 1.
- Finally, please add a readable photo of the Controller module in Figure 6, please include an electronic schematic chart of this Controller, and describe the above drawings and how the Controller works with the other modules.
Response:
Thank you for the careful reading and valuable comments. In this paper, the relevant controller is designed for the electro-optical tracking platform system. The simulation and experiment part of this paper are based on the analysis and discussion of electro-optical tracking platform, which is closely related to the field of electro-optical tracking. In this paper, we strengthen the analysis and discussion of simulation and experiment, and highlight the value and significance of the controller designed in this paper in the field of electro-optical tracking.
- According to your suggestion, in the introduction we strengthen the description of the practical possibilities of the methods presented in this paper, which are specifically highlighted in the paper. In this part, the introduction of the methods mentioned in the latest literature is strengthened.
- Thank you for the valuable comments. My answer to your question is as follows. In this paper, the object characteristics of simulation and experiment, namely the system transfer function, are obtained by experimental frequency scanning and fitting the system spectrum characteristics. In the experimental part, we change the transmission characteristics of the electro-optical platform by increasing the load on the optical level platform, that is, to simulate the internal parameter changes of the system, so as to further analyze and discuss the effectiveness of the proposed method. As for how some parameters in the electro-optical platform affect the transmission characteristics of the system, it has little significance for our simulation and experimental analysis, and does not need in-depth research.
- Thank you for the valuable comments. According to your suggestion, we further describe the control module in Figure 1 in detail.
- Thank you for the valuable comments. According to your suggestion, we describe how the Controller works with the other modules in detail. And, the electronic schematic chart of this Controller in Fig.6 is of little significance to the research and is not the focus of this paper, so it does not need to be added.
Comment 2: In the Conclusions section, please compare the advantages and disadvantages of the developed method, in relation to other similar used methods with which the authors are familiar. Please manifest the "advantages and effectiveness" mentioned in Abstract.
Response:
Thanks for your valuable suggestion. According to your suggestion, the advantages and effectiveness of the proposed method are described in detail in the abstract and conclusion.
Comment 3: The literature entry [6] "Prototype development of multi-target tracking system for space multi-node laser communication network. Optik, 274:170552, 2023" is inaccurately stated. Please cite the authors.
Response:
Thanks for your valuable suggestion. We have corrected such errors in the paper.
Comment 4: There are errors in citing literature, such as [[15?]] on page 2 line 65. Literature is cited in single brackets rather than double brackets, i.e., for example, [3] rather than [[3]] - please correct this throughout the article.
Response:
Thanks for your valuable suggestion. We have corrected such errors in the paper.
Comment 5: Comments on the Quality of English Language.
- The language of the article is understandable, although there are excessively long sentences - such as on page 2 in line 41. Such a sentence is hardly understandable and tiresome for the reader - please divide the long sentences into 2 shorter ones.
- Please clarify the text in Abstract. Once it says LMI in parentheses, and another place without parentheses. Are you sure line 7 was about observer gain and controller gain, i.e. observer object gain and controller object/person gain? Or was it about observer gain and controller gain?
Response:
- Thank you for the careful reading and valuable comments. Based on your advice, we simplified the long sentences in the passage as follows.
In practical applications, the electro-optical tracking system requires the motion tracking of the position, velocity or acceleration curve of a given time series with a certain precision. Meanwhile, the electro-optical tracking system must also meet certain control performance indicators, such as minimum tracking time and minimum cost. In this way, the system can track the specified trajectory faster, more accurately and more effectively.
- Thanks for your valuable suggestion. In the abstract section, the LMI technique is used for the first time because the solution of the LQR problem depends on the Riccati equation. An effective alternative to this problem is the LMI technique, which transforms the LQR problem into a linear matrix inequality constraint. Another use of the LMI technique is to determine the gain of the disturbance observer through the LMI technique and Lyapunov theory. And, line 7 was disturbance observer gain and controller gain.
Comment 6: The Abstract should include numerical, measurable results.
Response:
Thank you for the advice. Based on your advice, we added numerically relevant results to the abstract section.
Comment 7: Conclusions is not a rewriting of Abstract, but in a different way. Please make your conclusions longer and on merits in the 13-page article.
Response:
We are grateful for your comments. Based on your advice, we have revised the conclusion of the paper in detail to make the context of the paper clearer and the research more valuable.
Round 2
Reviewer 1 Report
no comments
