Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction

For the robustness experiment, the friction is increased by increasing the sealing pressure. The PID control exhibits a large overshoot during the transient state, while the other controllers exhibit no overshoot, as shown in Figs. 4 and 5. In the SMC, errors are reduced very slowly and the steady-state error is relatively large as shown in Fig. 5. Settling times of the PID control, the TDC, and the TDSMC are 3.32 s, 2.96 s, and 1.94 s, respectively, as shown in Figs. 4{b) and 5(^). The PID control and the TDC perform very poorly and their settling times are increased by 90.8 and 105.6 percent, respectively, from their nominal values. On the other hand, the TDSMC performs very well and its settling time is increased only by 9 percent from the nominal value. Therefore, the TDSMC has the best performance robustness. Conclusions The TDSMC which is a combination of the TDC and the SMC is proposed for the system with unknown dynamics and disturbances. This method uses the idea of switching of the sliding mode control while reducing the chattering associated with it. Experiments on the position control of a DC motor system with stick-slip friction, were conducted to evaluate performances of the control algorithms. Experiments show that the TDSMC exhibits the best performance robustness and that the TDC and the TDSMC perform better than the PID control with an anti-windup filter and the integral sliding mode control. 227. Youcef-Touini, K., and Bobbet, J., 1991, "Stability of Uncertain Linear Systems With Time Delay," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 113, pp. 558-567. Youcef-Toumi, K., and Ito, O., 1990, "A Time Delay Controller for Systems With Unknown Dynamics," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASURE- MENT, AND CONTROL, Vol. 112, Youcef-Toumi, K., and Reddy, S., 1992, "Analysis of Linear Time Invariant Systems With Time Delay," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASURE- MENT, AND CONTROL, Vol. 114, Youcef-Toumi, K., and Wu, S.-T., 1992, "Input/Output Linearization Using Time Delay Control," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 114, pp. 10-19