Synthesis of Adaptive Control for Electrical Drive System of Opto-Mechanical Complexes under Conditions of Uncertain Parameters, Taking into Account the Influence of Clearance and Dry Friction

In this paper, the position tracking control of the electric drive of the guide channel of the opto-mechanical complex is considered, described as a two-mass system considering the factors of clearance and dry friction. An adaptive sliding mode controller is proposed to solve the problem of tracking control under the conditions of uncertain system parameters and the influence of negative factors on the actuator. The stability of the system is proven using the Lyapunov function method. Simulation results are performed on Matlab/Simulink software to evaluate the effectiveness of the controller.