Error attenuation capacity of a target tracking system is the key indicator for the system’s tracking precision. Without changing the system’s feedback control structure, the traditional first order integral control, which is widely used in traditional tracking systems, cannot meet a higher precision for those fast targets with high mobility. The work described in this paper concerns about this problem, and proposes a cascade lag control scheme with one or more order to level up the system’s active error suppression capacity in low-frequency range. By substituting the cascade lag controllers for additional integral operator, a higher amplitude ratio system, which implies higher tracking precision, is obtained without loss of stability. As a difficult task for massive parameters’ designing, a concept of relative order and a configuration proportion law is proposed to simplify the analysis as well as parameters tuning. Relationship between the relative order and system performance is given. The multi-order cascade lag control scheme’s efficiency is proved in both theoretical analysis and experiments in an electro-optical tracking system.

目标跟踪系统的误差衰减能力是系统跟踪精度的关键指标。在不改变系统反馈控制结构的情况下，在传统跟踪系统中广泛使用的传统一阶积分控制无法满足对高机动性快速目标的更高精度要求。本文所描述的工作就是针对这个问题，提出了一种具有一个或多个阶数的级联滞后控制方案，以提高系统在低频范围内的主动误差抑制能力。通过用级联滞后控制器代替额外的积分算子，在不损失稳定性的情况下获得了更高的幅值比系统，这意味着更高的跟踪精度。作为海量参数设计的一项艰巨任务，提出了相对阶的概念和配置比例定律，以简化分析和参数调整。给出了相对顺序与系统性能之间的关系。多阶级联滞后控制方案的有效性在理论分析和光电跟踪系统实验中得到证明。