Sliding mode control of timing-belt servosystem

In this paper one solution for control of electromechanical linear drive with timing-belt, in the SMC framework is presented. In such a system the elasticity of the timing-belt along with large friction forces represent a major nonlinearity causing wide change of the system parameters and the oscillation of the load. Proposed solution is based on introduction of sliding mode motion and selection of the controller structure based on the predefined structure of the time derivative of Liapunov function candidate. By selecting appropriate form of the Liapunov function time derivative the resulting control is continuous and chattering is minimized. The simulation and experimental results are presented showing that the proposed design can satisfy technical requirements of the system.