Submicrometer Friction Compensation Using Variable-gain Sliding Mode Control
نویسنده
چکیده
The paper discusses a sliding mode control suitable for compensation of nonlinear microdynamic friction and parameter changes in a ball-screw driven slide system. The conventional, fixed-gain sliding mode control has a limited range of performance in the presence of varying nonlinear friction in submicrometer trajectory tracking. In this work, an algorithm that effectively calculates variable switching gain based on the observation of parameter variation and friction disturbance is proposed. To verify the effectiveness of the proposed algorithm, the comparison with the conventional slide mode control is presented and experimentally verified. It is shown, from the result of this work, that a variable switching gain was critically important in compensating for varying nonlinear friction in the sub-micrometer motion range for ball-screw driven systems.
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تاریخ انتشار 2001