The chattering and offset phenomena, which may lead to acceleration disturbances and deteriorate control performance, are the main deficiencies caused by switching signal and mismatched uncertainties when the sliding mode control method is used for motion control systems with friction. The need is highlighted for simultaneous chattering suppression and mismatched uncertainties attenuation of sliding mode control. In this article, a switched sliding mode control method is proposed which uses three sliding surfaces to divide the error state space into three subspaces. Using different sliding mode controllers when error system state is located in different subspaces, the asymptotically stable of motion control system is guaranteed under friction and uncertainties (including matched and mismatched). In addition, through designing proper switching gain for each sliding mode controller, the control law of switched sliding mode control can be continuous. This means that the chattering phenomenon caused by switching gain will be suppressed effectively. For improving the tracking performance, a switched sliding mode control–based composite controller incorporating a LuGre model–based adaptive approximator is further presented. The predicted friction of LuGre model is used for friction compensation based on switched sliding mode control. Experimental results based on three different controllers verify the effectiveness of the proposed method on a test-bed.
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