Friction and moment disturbances compensation for missile servo control system

For friction, moment disturbances and parameters variations in missile servo control system, an adaptive controller with dynamic parameters estimated, nonlinear factors and disturbances compensated online was proposed. Used a dual-observers structure to estimate the immeasurable internal friction state and designed real-time update laws for dynamic parameters based on Lyapunov stability theory. The closed loop control system was proved to be globally uniform asymptotically stable. The simulation results showed that the designed adaptive control algorithm improved tracking performance and had good robustness and stability to disturbances and parameters variations.