Integral backstepping control of servo actuators with LuGre model-based friction compensation

摘要

This paper concerns high-accuracy tracking control for servo actuators with nonlinear friction compensation. Friction is a major factor that affects the performance of the servo system, in order to express the characteristics of nonlinear friction more accurately and improve the control performance of the system, the LuGre dynamic friction model is applied, it can more fully described the friction phenomena. Firstly, a nonlinear observer is designed to estimate the internal state of the LuGre model. Then, based on the estimated friction state, the unknown friction and load torque compensation are realized by the integral backstepping adaptive controller, and the stability of the closed loop system is proved by the Lyapunov function. The simulation results show that this algorithm improves the control performance of the system.