Observer-Based Backstepping Adaptive Force Control of Electro-Mechanical Actuator with Improved LuGre Friction Model

A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test aircraft actuation system. In this paper, observer-based backstepping adaptive (OBAC) strategy with improved friction model proposed to deal force tracking problem electro-mechanical actuator under influence nonlinear lumped disturbances. First, The LuGre by introducing effect electrical linear simulator (ELLS), both static parameters are identified experimental data. Then, ELLS system divided into a loading subsystem controller deign. estimation position disturbance obtained using extended state observer used feedforward compensation subsystem. To reject parameter uncertainties subsystem, scale factor reasonable updating law introduced during process. Finally, whole closed-loop demonstrated Lyapunov-based method, experiments performed validate effectiveness developed algorithm.