Electro-Optical Servo Turntable Control Based on Backstepping Integral Sliding Mode Friction Compensation

To solve the problems of having big angle tracking errors, crawling and chattering in target searching, and aiming of having an electro-optical servo turntable, we combine the advantages of backstepping, an adaptive sliding mode, and the LuGre model and propose a backstepping adaptive integral sliding mode friction compensation control strategy. First, according to the complex and changeable environment of the electro-optical servo turntable, we establish an improved LuGre model by introducing environmental factors. Then, we design the subsystems and control laws step by step under the Lyapunov framework and introduce several adaptive laws to eliminate the influence of parameter uncertainty on the system. We use a dual nonlinear friction observer to compensate for the friction disturbance and use the integral sliding mode to enhance the robustness and reduce the steady-state error of the system. The Lyapunov theorem proves that the system is globally asymptotically stable. The simulation results show that the new control strategy can effectively sup press the friction disturbance and improve the angle tracking accuracy of the system, which can meet the requirements of the high-precision tracking control of the electro-optical servo turntable.