Vibration suppression in belt-driven servo systems containing uncertain nonlinear dynamics

Abstract

This paper proposes a vibration suppression strategy for belt-driven servo systems subject to uncertain nonlinear dynamics and external disturbances. The function approximation technique is applied to estimate the uncertainties that are further covered by sliding-based design. The closed loop stability is justified with Lyapunov-like method to ensure ultimately uniformly bounded performance of the output error. Simulation cases show that the proposed strategy can stabilize the closed loop system with effective suppression of vibration regardless of various uncertain nonlinear dynamics and external disturbances.