Replication Data for: Evaluation of Sliding-Mode Position Controllers on Multi-Axis Machine Tools with Compliant Mechanics

This dataset belongs to the Open Access publication "Evaluation of Sliding-Mode Position Controllers on Multi-Axis Machine Tools with Compliant Mechanics" (doi: 10.1145/3808871.3808873) A detailed description of the setup can be found in the publication. Feedback controllers from frequency inverter: PI velocity controller with Kp = 0.035 [Nm/(rad/s)], Tn = 2.6 [ms].

P position controller with Kp = 35 [1/s]. The dataset contains the following folders (Feel free to contact the dataset owner if you have any questions about the dataset.): 01_sysid_freq measurements of velocity sweeps for identification in frequency domain. 02_single_axis_tracking validation data for single-axis tracking performance in time domain 03_single_axis_prbs validation data for single-axis tracking performance in frequency domain 04_robustness_test robustness analysis of the presented sliding model controllers against parametric model uncertainty 05_observer validation data for the applied Kalman filter 06_multi_axis_tracking multi-axis tracking experiments demonstrating transient behavior