Sliding mode compensation of dry friction

This paper presents a sliding mode position controller for ultra-precision machining. Simulation results show the effectiveness of both continuous and discrete time sliding mode controllers. The friction model is Coulomb friction with a stick-slip effect and it is accurately simulated using a state event handler. The results suggest that this technique will allow ultra-precision machining with positioning errors of 5 percent and motions on the order of micrometers. All parameters that were used in the simulations are based on previously published experimental results