A new robust position control algorithm for a linear belt-drive

Official URL: http://ieeexplore.ieee.org/iel5/9394/29807/01364465.pdf?isnumber=29807&prod=CNF&arnumber=1364465&arSt=+358&ared=+363&arAuthor=Hace%2C+A.%3B+Jezernik%2C+K.%3B+Sabanovic%2C+A.

The paper deals with a linear belt-driven servomechanism. It proposes new position tracking control algorithm that has been designed by sliding mode control theory. The selected sliding manifold was extended by non-rigid modes of the elastic servodrive. However, the proposed control scheme retains simple and practical for implementation. The experiments presented in the paper show that it effectively suppresses vibrations and furthermore extend the closed-loop bandwidth.