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2018 | OriginalPaper | Chapter

Parameter Properties of a Sliding Mode Controller Design in Friction Compensation

Authors : N. A. Rafan, Zamberi Jamaludin, Tsung Heng Chiew, N. A. Mulop

Published in: Intelligent Manufacturing & Mechatronics

Publisher: Springer Singapore

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Abstract

An optimized controller provides consistent performance with high accuracy and precision even in the presence of disturbance forces. Disturbance forces can be a cutting force or friction force or both. Tracking performance of a drive system is critically influenced by the mechanical structure, disturbance forces and work piece mass. Sliding mode controller is designed to compensate disturbance forces especially friction. This paper presents parameter tuning strategies in designing a sliding mode controller in compensating a nonlinear friction behaviour occurred in machine tools application. The main parameter properties of a sliding mode controller are identified and analyzed. The proposed methods are analytically designed and numerically validated by variability index performance. The result analysis is presented by comparison of tracking position errors of linear motion using proposed methods with lower variability index. The result shows that method a with approach b has lower tracking position error and lower variability index, hence a better chattering effect and tracking position error performance.

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Metadata
Title
Parameter Properties of a Sliding Mode Controller Design in Friction Compensation
Authors
N. A. Rafan
Zamberi Jamaludin
Tsung Heng Chiew
N. A. Mulop
Copyright Year
2018
Publisher
Springer Singapore
DOI
https://doi.org/10.1007/978-981-10-8788-2_57

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