Biomimetic engineering of surfaces is an exciting and practical way to control friction at small-scales.
This paper presents a motion control strategy that utilizes a combination of vibration avoidance, sliding mode control, and torque ripple and friction compensation techniques to facilitate high bandwidth high accuracy tracking in ball screw drives.
The control laws can be selected ranging from a simple PID to complex Pole Placement, Generalized Predictive Control or Sliding Mode Controller with friction compensation.
To compensate for nonlinear friction and uncertain disturbance, a finite-time adaptive sliding mode control method is proposed based on the accurate system model.
Simulation results for position control of pneumatic actuators with different valve speeds and friction coefficients show that the DVMPC algorithm outperforms a sliding mode control algorithm in terms of position error and expected valve life.
Two contrasting nonlinear control methods, called input output linearization and sliding mode control, are used to achieve the asymptotic tracking problem in the presence of Coulomb friction and model uncertainties.
In order to provide an efficient solution to these control problems, we propose a composite control scheme, which consists of a friction state observer, a RFNN approximator and an approximation error compensator with sliding mode control.
Since there are nonlinear dynamics caused by friction and hysteresis existing in the system, a nonlinear compensation including a sign function and sliding mode control is designed to reject the nonlinearity.
Considering the influence of nonlinear friction and uncertain cutting force on the control precision of the A-axis, a novel fuzzy sliding mode control (FSMC) based on the proportional-integral (PI) control is designed according to the parameters adaptation.
Then, considering the influence of nonlinear friction, backlash, unmodeled dynamics, uncertain cutting force and other external disturbance on the control precision of the A-axis, an adaptive sliding mode control (ASMC) based on extended state observer (ESO) is proposed.
