Adaptive sliding mode control of ball screw drive system with extended state observer

This paper presents a control method for dynamic model of ball screw drive system with time-varying parametric uncertainties, dynamic variations and external disturbances. A sliding mode control (SMC) is designed for the rigid model of the ball screw drives and an extended state observer (ESO) is adopted to counteract the effect of the uncertainties and disturbances with unknown upper bound. Through the comparative experiments, the tracking performance of the proposed control law is verified. The experimental results indicate that the SMC with ESO can improve the tracking accuracy of the ball screw drive system.