SMC with disturbance observer for a linear belt-drive

Hace, Ales and Jezernik, Karel and Şabanoviç, Asif (2005) SMC with disturbance observer for a linear belt-drive. In: ISIE 2005 - International Symposium on Industrial Electronics 2005, Dubrovnik, Croatia

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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.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery
ID Code:1497
Deposited By:Asif Şabanoviç
Deposited On:08 Oct 2005 03:00
Last Modified:22 May 2019 11:57

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