Two-Axis Optoelectronic Stabilized Platform Based on Active Disturbance Rejection Controller with LuGre Friction Model

To realize the stable tracking control of optoelectronic stabilized platform system under nonlinear friction and external disturbance, an active disturbance rejection controller (ADRC) with compensation is proposed to improve target ability anti-disturbance performance. First, a LuGre observer designed estimate behavior preliminarily suppress interference torque on system. Then, ADRC introduced further residual after compensation, stability also proved. The effectiveness this scheme proved by simulation experiments, compared conventional feedforward compensation. results show that better trajectory performance, which suppresses influence improves