SMC와 비선형관측기를 이용한 동적마찰에 대한 정밀추종제어

Precise Control of Dynamic Friction Using SMC and Nonlinear Observer

A precise tracking control scheme on the system in presence of nonlinear dynamic friction is proposed. In this control scheme, the standard SMC is combined with the nonlinear observer to estimate the dynamic friction state that is impossible to measure. Then this control scheme has the good tracking performance and the robustness to parameter variation compared with the standard SMC and the PiD based nonlinear observer control system. This fact is proved by the experiment on the ball-screw driven servo system with the dynamic friction model.