The objective of this study was to address the parameter estimation of the line-of-sight stabilization system on temperature variation, which is a significant element in regulating the control performance of mobile platform with visual targeting system. To this end, the LuGre friction model in this study was used both to represent the characteristic of the friction behavior and to design a control algorithm for the friction compensation. Results from both simulation and experimental tests helps to identify the friction parameters on LuGre friction model. Based on LuGre with parameter estimation, PI-LEAD control algorithm is designed to compensate nonlinear characteristic of the line-of-sight stabilization system on the variation of temperature. Finally, through simulation, the good control performance of line-of-sight stabilization system was evaluated according to the temperature variation.

Recently, there are numerous studies on robots to function with smoother movement and high efficiency. It is difficult to develop robots with smooth movement and high efficiency. To solve this problem, the Series Elastic Actuator (SEA) is used. It is an actuator that gives compliance to a general actuator. Presence of compliance will bring to advantages. First, robots can reduce external impact force with high compliance. Second, the force of SEA can be controlled more precisely, than a normal actuator. Some SEAs have been developed with many functions, but the structure is complicated. So, in this study, the SEA with compact and simple structure was proposed. Shape of the SEA is cylindrical, and its diameter, height and weight are 70mm, 338mm, and 2.5kg respectively. The SEA was modeled in a two-degree of freedom mass spring damper system. To demonstrate travel response characteristics of the SEA, experiments were conducted and the result revealed design of the SEA is validated.