Research on adaptive friction compensation for flight motion simulator based robust backstepping controller

The flight motion simulator is one kind of servo system with uncertainties and disturbances such as friction nonlinear characters. To obtain high performance and good robustness for the flight simulator, we present adaptive friction compensation based robust backstepping controller which compensates for nonlinear friction characters for flight simulator. Firstly, the design procedure of the robust backstepping controller is described and correlative problems are proposed. Secondly, the backstepping controller with friction parameter update law is deduced and expatiated. Finally, simulation results on the flight simulator show that the output can achieve asymptotic tracking of the given position reference signal and the aberration of velocity response based on backstepping is overcome. Therefore both robustness and low velocity performance of the flight simulator are achieved. It is an applied technology for the control of servo system, such as the flight motion simulator.