[KSCI] Korea Science Citation Index Service

Sliding Mode Control with Friction Observer for a Precise Mechanical System in the Presence of Nonlinear Dynamic Friction

Han, Seong-Ik (Dept. of Mechatronics Engineering, Suncheon First College)

Publication Information

Transactions on Control, Automation and Systems Engineering / v.4, no.4, 2002 , pp. 296-304 More about this Journal

Abstract

A position tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate effects of friction. The conventional sliding mode controller often has been used as a non-model-based friction controller, but it has a poor tracking performance in high-precision position tracking application since it completely cannot compensate the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the sliding mode control method combined with the friction-model-based observer having tunable structure of the transient response. Then this control scheme has a good transient response as well as the high precise tracking performance compared with the conventional sliding mode control without observer and the control system with similar type of observer. The experiments on the bali-screw drive table with the nonlinear dynamic friction show the feasibility of the proposed control scheme.

Keywords

Nonlinear Dynamic Friction; Bristle Friction Model; Sliding Mode Control; Friction Observer with Tunable Structure; Ball-sorely Drive Table;

Citations & Related Records

Reference

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