Simulation study on a friction compensation method for the inertial platform based on the disturbance observer

Abstract

Friction is one of the key disturbances in an inertial platform, which can degrade itsperformance heavily. Compensation of friction disturbance should be considered while designing a controller for the inertial platform. In this article, the disturbance observer (DOB) is introduced to compensate for the friction disturbance for inertial platform. The problem of parameter optimization, which is the main issue in the DOB design, is also solved according to the performance index called integrals of square error. A non-linear friction model including static, Coulomb, and viscous frictions as well as Stribeck effect is built and considered as the friction disturbance of the inertial platform in this simulation study. The simulation results show that the friction disturbance can be suppressed effectively by the DOB method.