Disturbance Observer- Based Sliding Mode Control for thePrecise Mechanical System with the Bristle Friction Model

다국어 초록 (Multilingual Abstract)

Tracking control schemes on the precise mechanical system in presence of nonlinear dynamic friction is proposed. A nonlinear dynamic friction is regarded as the bristle friction model to compensate for effects of friction. The conventional SMC method often shows poor tracking performance in high-precision position tracking application since it cannot completely compensate for the friction effect below a certain precision level. Thus to improve the precise position tracking performance, we propose the SMC method combined with the disturbance observer having tunable transient performance. Then this control scheme has the high precise tracking performance as well as a good transient response when it is compared with the conventional SMC method and the similar types of observers. The experiment on the XY ball-screw drive system with the nonlinear dynamic friction confirms the feasibility of the proposed control scheme.