Control of the optoelectronic tracking system with friction

Friction effect is a main factor which affects the tracking accuracy of the turntable of optoelectronic tracking system, especially when the system works at a low velocity. Researchers have been endeavoring to explore the characters of the friction, model and compensate it. In this paper, a classical friction model-LuGre model is introduced into the turntable system, and an entire nonlinear turntable system model is presented, according to this model, an identification method and integral feedback compensation strategy is used to estimate and compensate the friction effect, then the tracking stability is analyzed, and it proves that the strategy can achieve the semi-global asymptotic tracking results. And the simulation result is presented in this paper.