Fuzzy Sliding Mode Control of a Ball Screw Driven Stage

Ball screw driven systems are widely used for motion control applications. In such systems, friction dominates the resulting performance and it should be compensated to achieve high precision in positioning and tracking. Hereby a friction model is introduced to describe dynamic behavior of the system and then three control strategies i.e. sliding mode control (SMC), complementary sliding mode control (CSMC) and fuzzy sliding mode control (FSMC) are applied. Performances of the controllers are compared in the sense of positioning, tracking error and control input. It is observed that the proposed FSMC can eliminate the steady state error and chattering of the control input.