Discrete-time sliding mode control of high precision linear drive using frictional model

Khan, Shahzad and Şabanoviç, Asif (2006) Discrete-time sliding mode control of high precision linear drive using frictional model. In: 9th International Workshop on Advanced Motion Control, Istanbul, Turkey

[thumbnail of 3011800000419.pdf] PDF
3011800000419.pdf

Download (465kB)

Abstract

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 non linear 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.
Item Type: Papers in Conference Proceedings
Subjects: T Technology > TS Manufactures
Divisions: Faculty of Engineering and Natural Sciences
Depositing User: Shahzad Khan
Date Deposited: 08 Feb 2007 02:00
Last Modified: 26 Apr 2022 08:30
URI: https://research.sabanciuniv.edu/id/eprint/1123

Actions (login required)

View Item
View Item