Control of ball screw drives using adaptive backstepping sliding mode controller and minimum tracking error prefilter

This paper presents a method to design servo controller for flexible ball screw drives. The state space model of the flexible ball screw drive with the nonminimum phase zero is considered. An adaptive backstepping sliding mode controller with minimum tracking error prefilter is proposed to actively suppress for the vibrations and achieve high positioning performance. The prefilter is used to remove the tracking error during the constant velocity command. Compared with P/PI controller with the velocity and acceleration feed-forward, the proposed controller has been validated to achieve higher tracking accuracy, bandwidth and stability.