Positioning And Tracking Control

Abstract

In this paper, de-coupled discrete-time sliding-mode tracking controllers are designed for an x-y sliding table driven directly by linear motors. The controllers are designed using an integrated reaching law method, based on a simplified model of the current control loop of these motors. To achieve high bandwidth tracking performance, a feedforward controller is added. Although the sliding table is operating in the presence of friction, no friction compensation is applied. Experimental results are presented