VSS motion control for a laser-cutting machine

Abstract A new position control algorithm for a belt-driven servomechanism of a lasercutting machine is described. The high-accuracy motion control procedure for the system with inherent elasticity caused by the low-cost belt-drives was derived using Variable System Structure (VSS) control theory and Lyapunov design. The control design yields the continuos sliding mode control law. It possesses all the good properties of the robust sliding mode and avoids the unnecessary discontinuity of the control input, thus eliminating chattering. The proposed robust control algorithm was used in an industrial application of a motion controller for a CNC laser-cutting machine. Experimental results are reported.

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