SMC with Disturbance Observer for a Linear Belt-Drive

Hace, Ales and Jezernik, Karel and Şabanoviç, Asif (2007) SMC with Disturbance Observer for a Linear Belt-Drive. (Accepted/In Press)

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Accurate position tracking control in a belt-driven servomechanism can experience vibrations and large tracking errors due to compliance and elasticity introduced by force transmission through the belt and nonlinear friction phenomenon. In this paper, a new control algorithm based on sliding mode control that is able to deal with these problems is proposed. In order to further optimize position tracking performance the control scheme has been extended by an asymptotic disturbance observer. It has been proven that robust and vibration-free operation of a linear belt-driven system can be achieved. The experiments presented in the paper show improved position tracking error response while maintaining vibration suppression.

Item Type:Article
Subjects:T Technology > TJ Mechanical engineering and machinery
T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:5731
Deposited By:Asif Şabanoviç
Deposited On:30 Oct 2007 16:39
Last Modified:23 Sep 2009 16:42

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