为了缓解各种宽带和窄带扰动引起的光束抖动，提高自由空间激光通信卫星平台捕获跟瞄(ATP)系统的瞄准精度，在传统的比例积分微分(PID)反馈算法基础上增加一套误差自适应前馈控制算法构成误差自适应前馈复合控制。误差自适应前馈复合控制结合了PID反馈算法和自适应前馈算法的优点，能更好地抑制卫星终端精跟踪系统承受的扰动，而且具有不需要额外前馈传感器的优点，不增加系统硬件的复杂性和成本。在实验室搭建了快速反射镜实验系统对这种复合控制算法进行了实验，实验结果表明，误差自适应前馈复合控制算法相对于经典PID反馈算法精度提高了约5倍；相对于自适应前馈算法精度提高了约1倍。误差自适应前馈复合控制算法在不增加系统复杂性的同时能进一步缓解光束抖动，提高卫星平台ATP系统精度。

In order to reduce beam jitter introduced by all kinds of broadband and narrowband disturbance, and improve the satellite acquisition, pointing and tracking (ATP) system′s pointing accuracy, a new kind of composite control is constructed based on the traditional proportional-integral-differential (PID) feedback algorithm and the new adaptive feedforward algorithm. It can reduce the jitter that satellite ATP system bears better than the traditional PID feedback algorithm. It not only has the merits of both algorithms, but also has the merit of no extra sensors for feedforward loop compared with the common adaptive feedfoward algorithms. So the algorithm will not improve cost and complexity of the system. The algorithms referred above are verified by experiments and comparisons are made. Experimental results indicate that the error adaptive feedforward composite control algorithm′s accuracy is nearly 5 times better than that of the classical PID control algorithm and 1 time better than that of the adaptive feedforward algorithm. The error adaptive feedforward algorithm can reduce beam jitter and improve the satellite ATP system′s pointing accuracy.