Friction nonlinearity generally exists in turntable systems, which may reduce servo performance severely. To improve tracking performance of non-direct driven turntable system, a backstepping sliding mode control (BSMC) method with compensation based on stribeck friction model is proposed in this paper. Identification of friction model parameters uses particle swarm optimization (PSO) algorithm, extended state observer (ESO) is added to control pattern to improve the chattering brought by sliding surface switching process. The stability of system with BSMC is guaranteed by Lyapunov theory. BSMC and its performance are validated by comparative experiments, the results of experiment demonstrate that the proposed method can realize better accuracy and stability than traditional proportionalintegral (PI) controller.

sliding mode control;backstepping control;stribeck model;particle swarm optimization;turntable tracking