Integral Sliding Mode Approach to Robust Control Systems Against Friction Force

Abstract

Owing to the interesting challenges in the design of control systems that involve friction force, this paper proposes a new approach to the design of robust control system against friction. The proposal is motivated by the criticism aroused against the model-based friction compensation approaches such as the need for detailed friction model, accurate observer-based friction estimation, and issues of design complexity. The proposal utilizes the inherent robustness and relative design simplicity of the integral sliding mode control to attain closed-loop system robustness against friction effects if the maximum bound of friction is known. The use of ISMC provides closed-loop system robustness without the need for detailed friction modelling or accurate observer-based friction estimation and therefore simplifies closed-loop system design complexity significantly. The friction force in a tutorial example is considered to demonstrate the robustness of the proposed algorithm.