Integrated direct/indirect adaptive robust control of turntable servo system based on LuGre model friction compensation

摘要

This paper concerns the position tracking control problem of turntable servo system with nonlinear friction compensation. For the purpose to describe the dynamic friction behaviors, the LuGre friction model is used in this paper. And intend to estimate the internal state which is unmeasurable in the LuGre model, two projection-type observers are chosen for this usage. Considering the effect of parametric uncertainties and model uncertainties, and in order to achieve ideal tracking performance and better parameter estimation, the DIARC algorithm (the integration of direct and indirect adaptive robust control) is presented. Compared to the traditional adaptive robust control (DARC), the simulation results prove that the DIARC algorithm has good performances.