SMC with disturbance observer for a linear belt-drive

Accurate position tracking control of a linear belt-driven servomechanism can cause vibrations in the drive response due to compliance and elasticity introduced by force transmission through the belt. This paper proposes a new control algorithm that has been designed by Sliding Mode Control theory. Though it has been proved to assure robust and vibration-free operation, position error peaks still appear at velocity reversals due to nonlinear friction phenomenon. Thus, the control scheme has been extended by asymptotic disturbance observer. The experiments presented in the paper show improved position tracking error response while maintaining vibration suppression.