Journal
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
Volume 48, Issue 16, Pages 3374-3381Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207721.2017.1387315
Keywords
Adaptive control; backstepping control; LuGre dynamic model; sliding mode control; nonlinear system; opto-electronic tracking
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In order to improve the control accuracy and stability of opto-electronic tracking system fixed on reef or airport under friction and external disturbance conditions, adaptive integral backstepping sliding mode control approach with friction compensation is developed to achieve accurate and stable tracking for fast moving target. The nonlinear observer and slide mode controller based on modified LuGre model with friction compensation can effectively reduce the influence of nonlinear friction and disturbance of this servo system. The stability of the closed-loop system is guaranteed by Lyapunov theory. The steady-state error of the system is eliminated by integral action. The adaptive integral backstepping sliding mode controller and its performance are validated by a nonlinear modified LuGre dynamic model of the opto-electronic tracking system in simulation and practical experiments. The experiment results demonstrate that the proposed controller can effectively realise the accuracy and stability control of opto-electronic tracking system.
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