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SMC With Disturbance Observer for a Linear Belt Drive

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3 Author(s)
Hace, A. ; Univ. of Maribor, Maribor ; Jezernik, K. ; Sabanovic, A.

Accurate position-tracking control in a belt-driven servomechanism can experience vibrations and large tracking errors due to compliance and elasticity introduced by force transmission through the belt and nonlinear-friction phenomenon. In this paper, a new control algorithm which is based on a sliding-mode control that is able to deal with these problems is proposed. In order to further optimize position-tracking performance, the control scheme has been extended by an asymptotic disturbance observer. It has been proven that robust and vibration-free operation of a linear-belt-driven system can be achieved. The experiments presented in this paper show improved position-tracking error response while maintaining vibration suppression.

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Industrial Electronics, IEEE Transactions on  (Volume:54 ,  Issue: 6 )