X-Y定位平台的鲁棒自适应摩擦补偿

本文首先描述了X－Y平台实验系统及其模型建立，接着，针对X－Y定位平台中存在的载荷及摩擦参数的不确定性问题，提出了一种鲁棒自适应运动控制方案，所设计的控制器将滑模控制和自适应控制有机地结合在一起，应用Lyapunov稳定理论证明了控制器的稳定性及跟踪误差的收敛性，仿和实验结果表明此方法能够在线辨识摩擦参数，具有较高的控制精度，这种方案可用于工业设备的控制中。

Robust adaptive friction compensation for X-Y positioning table

The X Y table experiment system and its modeling are described firstly, following it, a robust adaptive motion control approach is proposed to deal with the uncertainty of load and friction parameters existed in the X Y positioning table. The designed controller is performed by the sliding mode control combined with adaptive control organically. The global stability of the controller and the global convergence of tracking error are proven using Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the robustness, high accuracy and ability to identify friction parameters on line of this controller. The proposed approach can be applied in industries.