Chapter 12 Extended State Observer Based Sliding Mode Control for Mechanical Servo System with Friction Compensation

摘要

This paper proposes a tracking control method based on the extended state observer for the nonlinear mechanical servo system with friction compensation. The friction nonlinearity is described by a continuously differentiable LuGre model and compensated by using neural network (NN). Then, an extended state observer (ESO) is employed to estimate the system states and uncertainties including friction compensation error. A sliding mode control (SMC) scheme is developed based on ESO estimation to guarantee the convergence of the tracking error. Comparative simulations are conducted to show the superior performance of the proposed method.