Theoretical Analysis Of Friction Compensation Using Sliding Mode Control

Rafan, Nur Aidawaty and Jamaludin, Zamberi and Tjahjowidodo, Tegoeh and Chey, Long Sheng and Chiew, Tsung Heng (2012) Theoretical Analysis Of Friction Compensation Using Sliding Mode Control. Applied Mechanics and Materials, 229. 2385-2388. ISSN 16609336

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Friction is an undesired nonlinear phenomenon that reduces position and tracking accuracy in machine tools application. This paper focuses on development of control technique to compensate friction force at motion reversal of a drive system that generates quadrant glitch phenomenon thus improving tracking accuracy. Sliding Mode Control (SMC) is designed to compensate friction. The Generalized Maxwell-Slip (GMS) friction model is applied for numerical analysis. The performance of the controller is analysed based on the reduction in the quadrant glitches magnitude. The performance of the SMC controller is compared with the classical PID controller. Results show that SMC controller yields the smallest quadrant glitch magnitudes.

Item Type: Article
Additional Information: Friction compensation, Generalized maxwell slip model, Sliding mode control
Uncontrolled Keywords: Friction Compensation, Sliding Mode Control, Generalized Maxwell Slip Model
Divisions: Faculty of Manufacturing Engineering > Department of Robotics and Automation
Depositing User: Engr. Nur Aidawaty Rafan
Date Deposited: 19 Nov 2014 01:37
Last Modified: 04 Feb 2022 14:51
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