A Practical Application of Sliding Mode Control in the Motion Control of a High Precision Piezoelectric Motor

TL;DR

This paper presents a practical sliding mode control method with partial model compensation for high precision piezoelectric motors, improving robustness and performance over traditional methods through stability proofs and experimental validation.

Contribution

It introduces a novel partial model compensation technique for sliding mode control, enhancing its effectiveness in digital control of systems with static friction.

Findings

Proposed control outperforms traditional PI control in experiments.

The approach demonstrates superior robustness against control gain constraints.

Stability of the control method is rigorously proven.

Abstract

This paper proposes a practical implementation of sliding mode control (SMC) that utilizes partial modeling compensation. Sliding mode control is well known for its effectiveness as a model free control approach, however, its effectiveness is degraded if there is a constraint on the control gain or limitation on the switching frequency in digital implementation. This is especially the case with systems that involve static friction. This approach aims to enhance the effectiveness of SMC by partial model compensation. Rigorous stability proofs are presented to validate the approach. In addition, experiments are carried out on a piezoelectric motor driven linear stage and the control approach is compared with the Discrete-Time Integral Sliding Mode (DTISMC) approach proposed by Abidi et al. as well as conventional PI control. The results show that the proposed control approach has a superior performance in comparison to the other approaches tested.