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_q linear SMC-like Controller with varying gain lambda_l

Two P position controllers are used:

k_v = 50 1/s with velocity feedforward k_v = 35 1/s with velocity and acceleration feedforward

The dataset contains the following folders:

PT2I_selection ... measurements with PT2I model parameters, feedforward only, feedback control is off lSMC ... measurements with lSMC with varying gain qSMC ... measurements with qSMC with varying gain PPI ... measurements with P position controller as described above MillingSim ... 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 analysis SPP_0_3 ... jerk limited profile (see signal traj_KGT, v_max=0.3 m/s) for time domain analysis SPP_0_7 ... jerk limited profile (see signal traj_KGT, v_max=0.7 m/s) for time domain analysis

Abbreviations used in data/metadata:

LDA/LDD ... linear direct drive KGT/BSC ... ball screw drive

dSPACE Control Desk, 7.3