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

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.