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Discrete-time Sliding Mode Control of High Precision Linear Drive using Frictional Model

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2 Author(s)
Khan, S. ; Dept. of Mechatronics Eng., Sabanci Univ., Istanbul ; Sabanovic, A.

The paper deals with high precision motion control of linear drive system. The accuracy and behavior of the linear drive system are highly affected by the non-linear frictional component compromising of stiction, viscous and Stribeck effect present in the system especially in the vicinity of zero velocity. In order to achieve the high accuracy and motion it is mandatory to drive our system with low velocity resulting in many nonlinear phenomena like tracking error, limit cycles and undesired stick-slip motion etc. This paper discuss the design and implementation of discrete time sliding mode control along with the implementation of dynamic frictional model in order to estimate and compensate the disturbance arising due to frictional component. Experimental results are presented to illustrate the effectiveness and achievable control performance of the proposed scheme

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Advanced Motion Control, 2006. 9th IEEE International Workshop on

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