提出了一种用于精密转台平滑鲁棒自适应控制器。通过基于σ改进方案的自适应律估计得到未知摩擦参数和非线性项的常值上界,并且利用一种平滑预测算法来改进用于估计不可测摩擦状态的双观测器。为了抑制不确定非线性项,加入了无抖振滑模控制项。通过Lyapunov方法证明了系统的位置跟踪误差是一致最终有界的。仿真研究表明了该控制方案的有效性。 A robust robust adaptive controller for precision turntable is proposed. The upper bounds of the unknown values ​​of the friction parameters and the nonlinear terms are obtained by the adaptive law estimation based on the improved scheme of σ, and a smoothing prediction algorithm is used to improve the double observer used to estimate the unmeasurable friction state. In order to suppress the uncertain nonlinearity, the chattering-free sliding mode control is added. The Lyapunov method is used to prove that the position tracking error of the system is uniform and ultimately bounded. Simulation studies show the effectiveness of this control scheme.