Two-Axis Optoelectronic Stabilized Platform Based on Active Disturbance Rejection Controller with LuGre Friction Model
Xueyan Hu, Shunjie Han, Yangyang Liu, Heran Wang
Abstract
To realize the stable tracking control of the optoelectronic stabilized platform system under nonlinear friction and external disturbance, an active disturbance rejection controller (ADRC) with friction compensation is proposed to improve the target tracking ability and anti-disturbance performance. First, a nonlinear LuGre observer is designed to estimate friction behavior and preliminarily suppress the interference of friction torque on the system. Then, an ADRC is introduced to further suppress the residual disturbance after friction compensation, and the stability of the ADRC system is also proved. The effectiveness of this scheme is proved by simulation experiments, and this scheme is compared with conventional ADRC and LuGre friction feedforward compensation. The simulation results show that an ADRC with LuGre friction compensation is better with trajectory tracking performance, which suppresses the influence of disturbance and improves the stability of the optoelectronic stabilized platform system.