Robust adaptive integral backstepping control for opto-electronic tracking system based on modified LuGre friction...

Area of Science:

• Control Systems Engineering
• Opto-Mechatronics
• Robotics

Background:

• Opto-electronic tracking systems require precise control despite nonlinear friction and external disturbances.
• Existing control strategies may struggle with complex friction dynamics and unpredictable environmental factors.

Purpose of the Study:

• To develop a robust adaptive integral backstepping control strategy for enhanced opto-electronic tracking system performance.
• To accurately compensate for nonlinear friction and external disturbances in real-time.

Main Methods:

• A novel control strategy combining integral control, robust adaptive control, and backstepping design.
• Implementation of a nonlinear modified LuGre observer for friction behavior estimation.
• Stability analysis using the Lyapunov criterion.

Main Results:

• The proposed controller significantly reduces steady-state error using an integral control term.
• Demonstrated effectiveness in simulations and practical experiments with an opto-electronic tracking system.
• Achieved a 26.6% reduction in root mean square angle error compared to adaptive integral backstepping sliding mode control.

Conclusions:

• The robust adaptive integral backstepping control strategy provides effective and robust performance for opto-electronic tracking systems.
• The method successfully compensates for friction variations and external disturbances.
• Validated effectiveness through rigorous simulation and experimental validation.