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Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model

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  • Fengfa Yue
  • Xingfei Li
  • Cheng Chen
  • Wenbin Tan

Abstract

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.

Suggested Citation

  • Fengfa Yue & Xingfei Li & Cheng Chen & Wenbin Tan, 2017. "Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(16), pages 3374-3381, December.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:16:p:3374-3381
    DOI: 10.1080/00207721.2017.1387315
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    References listed on IDEAS

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    1. Hashim. A. Hashim & Sami El-Ferik & Frank L. Lewis, 2017. "Adaptive synchronisation of unknown nonlinear networked systems with prescribed performance," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(4), pages 885-898, March.
    2. Elaheh Arefinia & Heidar Ali Talebi & Ali Doustmohammadi, 2017. "A robust adaptive observer for a class of singular nonlinear uncertain systems," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(7), pages 1404-1415, May.
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