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The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to identify the friction effect. The friction model which Canudas suggested, so called, LuGre model is well expressed the friction effect as Streibeck in the low velocity. But it's model parameters were estimated continuously in operation for precise control. This paper suggests the sliding mode controller and observer for compensating the friction effect. Experimental results for a ball-screw system show that the proposed method has a good performance especially in the low velocity.