Abstract
Experimental comparison for sliding mode position controllers vs. P position controller.Please refer to Readme.md contained in the dataset for more detailed information.SMC-like controllers are:Quasi SMC qSMC with sign(s)~s/(|s| + \epsilon), k_s = 1250, epsilon=5, varying gain lambda_qlinear SMC-like Controller with varying gain lambda_lTwo P position controllers are used:k_v = 50 1/s with velocity feedforwardk_v = 35 1/s with velocity and acceleration feedforwardThe dataset contains the following folders:PT2I_selection ... measurements with PT2I model parameters, feedforward only, feedback control is offlSMC ... measurements with lSMC with varying gainqSMC ... measurements with qSMC with varying gainPPI ... measurements with P position controller as described aboveMillingSim ... simulated HPC milling forces induced on table, all controllers (lSMC, qSMC with gain 250)variation_m_l ... added mass of 105 kg and 210 kg table, all controllers (lSMC, qSMC with gain 250)variation_om0_D ... model parameters omega_0, D varied by 10% (and 20%, D only), all controllers (lSMC, qSMC with gain 250)Measurement names:DStep ... Disturbance steps of 1kN on table (with linear direct drive)DSweep ... Disturbance sweep signal on table (with linear direct drive)PRBS ... PRBS on position controlled motor for frequency domain analysisSPP_0_3 ... jerk limited profile (see signal `traj_KGT`, v_max=0.3 m/s) for time domain analysisSPP_0_7 ... jerk limited profile (see signal `traj_KGT`, v_max=0.7 m/s) for time domain analysisAbbreviations used in data/metadata:LDA/LDD ... linear direct driveKGT/BSC ... ball screw drive
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