Fig. 2 Structure of ball screw drive
Fig. 3 Proposed position controller
Fig. 4 Desired trajectory for simulation: (a) position, (b) velocity and (c) acceleration
Fig. 5 Error prediction using error model: (a) actual and predicted errors and (b) prediction error
Fig. 6 Experimental setup
Fig. 7 Friction model
Fig. 8 Desired trajectory: (a) position, (b) velocity, (c) acceleration and (d) jerk
Fig. 9 Resulting position error: (a) trajectory 1, (b) trajectory 2 and (c) trajectory 3
Fig. 1 Structure of inverse model based disturbance observer with PD control
Table 1. RMS and maximum values of position errors
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