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윤석영,박정일 嶺南大學校 工業技術硏究所 1997 工業技術硏究所論文集 Vol.25 No.1
This paper presents a new adaptive friction compensation technique for stabilized platform of a first order plant with nonlinear friction. Nonlinear friction torque is a major source of tracking and stabilization error in precision pointing servo systems. The proposed compensator is composed of nonlinear feedback controller and reference model of a plant without torque friction. Gains of friction compensator are adaptively adjusted to variation of the friction torque of plant. Simulation result shows that the proposed compensator can significantly reduce the nonlinear factors.