Two-Axis Optoelectronic Stabilized Platform Based on Active Disturbance Rejection Controller with LuGre Friction Model

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.

Multi-Channel Phase-Compensated Active Disturbance Rejection Control with an Improved Backstepping Strategy for Electro-Optical Tracking Systems

“…In ref. [25], LuGre observers were combined with ADRC to suppress nonlinear frictions and external perturbations in ETS to great effect.…”

Research on Friction Compensation Method of Electromechanical Actuator Based on Improved Active Disturbance Rejection Control

“…Jin et al [21] implemented a novel type of linear ADRC, replacing the PID controller, to effectively control a hydraulic cylinder servo system, acknowledging the characteristics of high-order coupling in the electrohydraulic system. Hu et al [22] established an ADRC control method based on LuGre friction compensation to study the effect of nonlinear friction on the transmission accuracy of the photoelectric stabilization platform. Sira-Ramírez et al [23] employed ADRC based on high gain generalized proportional integral observers for PMSM large disturbance trajectory tracking systems.…”

Design of Optoelectronic Tracking Platform Driven by Ultrasonic Motor with a Novel Limiter

“…Wu proposed a joint active disturbance rejection control and sliding mode control method, which can track the target by electromagnetic motors with 0.1 mrad accuracy [17]. Hu proposed a disturbance rejection controller with friction compensation to improve the target tracking ability and anti-disturbance performance by electromagnetic motors, and the angle error is 0.0542 • [18]. In order to achieve higher torque, lower rotation speed, and self-locking function, the above platforms often need to be combined with a worm reducer, which inevitably increases the complexity of the driving mechanism and has problems of long positioning time, poor electromagnetic compatibility, large volume, and small positioning stiffness [13,14,[17][18][19][20].…”