Adaptive Friction Compensation Control for a Roll-Isolated Strapdown Inertial Navigation System

Abstract

In order to meet the requirements of miniaturization and low cost of rolling missiles, the roll-isolated strapdown inertial navigation systems began to be applied to such weapon systems. This paper proposes an adaptive control approach based on LuGre friction torque model to eliminate the influence of the nonlinear characteristics of the friction torque of the roll-isolated platform at low speed. Two nonlinear state observers are used to estimate the unknown state variables in LuGre model, and the parameters of the model are adaptively estimated. The global asymptotic stability of the system is proved by Lyapunov method. The simulation results show that compared with the traditional control approaches, this approach improves the control precision and low-speed performance of the roll-isolated platform, and can meet the performance requirements of the roll-isolated strapdown inertial navigation system.