Robust adaptive control of a linear motor stage including feedback GMS friction compensation

Key Points

• The aim is to develop a robust adaptive controller for a linear motor stage that effectively compensates for friction and varying mass.
• Developed an adaptive controller using the Generalized Maxwell-Slip model for friction compensation.
• Transformed the GMS model for compatibility with adaptive control methods.
• Applied Lyapunov stability analysis considering switching dynamics associated with the GMS model.
• Tested the controller on an experimental setup to evaluate performance against a non-adaptive controller.
• The proposed adaptive controller maintained superior tracking performance despite variations in transported mass.
• Compared to a non-adaptive robust controller, the adaptive controller showed significant improvements in friction compensation under changing conditions.

Abstract