Adaptive Low Velocity Friction Compensation for Airborne Opto-electronic Platform

摘要

The problem of stabilization and position control for the AOEP system at low velocity is influenced by the torque of friction, etc. In this paper a method is presented to compensate friction. The methodology is constructive, and ensures stable and convergent performance. The control design is applicable to a class of dynamic systems working at low speed with the cited parasitic effects. The design is verified by simulation and a hardware example case.