Friction Cancellation Based on Output Differentiation for Gyro Stabilized Pod

Friction severely limits performance in the system of gyro stabilized pod. A new approach of the friction compensation is proposed to estimate friction in real time in order to counter friction, which is based on output differentiation. The friction estimate is used to provide a extra torque at the input to the system, which is equal in magnitude and opposite in phase to machine friction. Two kinds controllers are adopted in gyro stabilized pod. Simulations show that the optimal robust controller has the best performances overall reducing the tracking error apparently.