Design of a chattering-free sliding mode controller with a friction compensator for motion control of a ball

Abstract

A new sliding mode control (SMC) scheme that can reduce chatter characteristics sufficiently is proposed for the motion control of a ball-screw system. This sliding mode controller is derived from the reaching law and the Lyapunov stability condition. The design procedure of the proposed control scheme is very simple and its application is easy. Also, the friction torque on the ball-screw system is compensated for by a good tracking performance by the feedforward control input, which is calculated by the LuGre dynamic friction model. The experimental results show that the proposed controller has a good tracking performance and reduces chatter characteristics in the presence of model uncertainties and parameter variations.

Keywords

semi-continuous sliding mode control LuGre friction model ball-screw system

Get full access to this article

View all access options for this article.

References

Utkin

V. I.

Sliding Modes in Control and Optimization, 1992 (Springer-Verlag, Berlin, Germany).

Young

K. D.

Utkin

V. I.

Ozguner

A control engineer's guide to sliding mode control. IEEE Trans. Control Syst. Technol., 1999, 7 (3), 328–342.

Edwards

Spurgeon

S. K.

Sliding Mode Control: Theory and Applications, 1999 (Taylor and Francis, London).

Decarlo

R. A.

Zak

S. H.

Matthews

G. P.

Variable structure control of nonlinear multivariable systems: A tutorial. Proc. IEEE, 1988, 76 (3), 212–232.

Hung

J. Y.

Gao

Hung

J. C.

Variable structure control: A survey. IEEE Trans. Ind. Electron., 1993, 40 (1), 2–22.

Slotine

Sastry

Tracking control of nonlinear systems using sliding surfaces, with application to robot manipulators. Int. J. Control, 1983, 38 (2), 465–492.

Bondarev

A. G.

Bondarev

S. A.

Kostyleva

N. E.

Utkin

V. I.

Sliding mode in systems with asymptotic state observers. Automn and Remote Control, 1985, 679–684.

Bartolini

Ferrara

Usani

Chattering avoidance by second order sliding mode control. IEEE Trans. Autom. Control, 1998, 43 (2), 241–246.

Cho

Sliding mode fuel injection controller: Theory and experimental results. In ACC Conference, Boston, Massachusetts, 1991.

10.

Gao

Hung

J. C.

Variable structure control of non-linear systems: A new approach. IEEE Trans. Ind. Electron., 1993, 40 (1), 45–55.

11.

Verhulst

Nonlinear Differential Equation and Dynamical Systems, 2nd edition. 1996 (Springer-Verlag, Berlin, Germany).

12.

Erbatur

Kaynak

M. O.

Sabanovic

A study of robustness property of sliding-mode controllers: A novel design and experimental investigation. IEEE Trans. Ind. Elect., 1999, 46 (5), 1012–1018.

13.

Utkin

V. I.

Shi

Integral sliding mode in systems operating under uncertainty conditions. In Proceedings of the IEEE Conference on

Decision and Control, Kobe, Japan, 1996, pp. 4591–4596.

14.

Lee

K. J.

Kyun

T. H.

Kim

J. S.

Control of robot manipulators using chattering free sliding mode. J. Korean Soc. Mech. Engrs, 2002, 26 (2), 257–364.

15.

Canudas

Olsson

Astrom

K. J.

Lischinsky

A new model for control of system with friction. IEEE Trans. Autom. Control, 1995, 40 (3), 419–425.

16.

Canudas

Lischinsky

Adaptive friction compensation with partially known dynamic friction model. Int. J. Adaptive Control and Signal Processing, 1997, 11, 65–80.

Design of a chattering-free sliding mode controller with a friction compensator for motion control of a ball—screw system

Abstract

Abstract

Keywords

Get full access to this article

References