Abstract
Friction torque is the main factor that influences dynamic response performance of high precise servo systems. To compensate for the friction torque, a compound control strategy based on backstepping and acceleration feedback with friction observer is proposed. In this control strategy, the backstepping controller with integral element was used for the position loop; the acceleration feedback controller with friction observer was introduced to compensate for friction torque. The simulation results show that dynamic friction torque is inhibited more effectively, and the robustness of system for the exterior disturbance is also improved simultaneously.
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