Friction compensation strategy based on adaptive algorithm for electro-optical rotation table

Because of friction disturbance, jitter often happens when the table is working at low speed, which terribly influences the tracking precision. Taking the electrooptical rotation table as a plant, based on Lyapunovs law and adaptive control theory, an adaptive friction compensation method is designed to reduce the disturbances of the friction and improve the tracking performance. The simulation results demonstrate that the method can reduce jitter and provide the better stable tracking performance.