A novel friction and modelling uncertainty compensation scheme for a ball-screw table system is presented, consisting of an inverse of the nominal model with an input deduction, a filter, and an integral term. This control scheme can compensate for frictional effects and modelling uncertainty inherent in the ball-screw mechanism. In addition, when further combined with a conventional sliding-mode controller (SMC), this controller can help to counteract the effects of residual frictional torque and residual modelling uncertainty. The proposed control scheme successfully compensates for frictional effects and modelling uncertainty without requiring any prior knowledge of the friction model. Simulation and experimental results confirm the ability of the proposed scheme to compensate for the effects of friction and modelling uncertainty in a practical application.
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