提出了一种基于非线性观测器的命令滤波自适应反步控制（OCFABC）方法，以解决具有 LuGre 摩擦模型的双轴伺服系统中的位置跟踪和速度同步问题。观测器用于系统摩擦补偿。命令滤波器作用于虚拟控制信号，解决反步法中的计算爆炸问题，建立误差补偿方程，提高跟踪精度。此外，还设计了速度同步信号，以达到更好的系统同步效果。利用Lyapunov理论分析了闭环系统的稳定性。最后,通过仿真和试验结果证明了所设计方法的有效性和优越性。

The dual-axis servo system with the LuGre friction model has problems of the position tracking and the speed synchronization. To solve these problems, a nonlinear observer-based command filtered adaptive backstepping control (OCFABC) method is proposed. The observer is used for system friction compensation. The command filter acts on the virtual control signal to solve the computational explosion problem in the backstepping method, and the error compensation equation is established to improve the tracking accuracy. In addition, the speed synchronization signals are designed to achieve the better system synchronization effect. The stability of the closedloop system is analyzed by using Lyapunov theory. Finally, the availability and the superiority of the designed method are demonstrated by simulation and experiment results.

国家自然科学基金项目（62103212， 62203381）