Reduction of Quadrant Glitch: An Experimental Validation on XY Positioning Table

The glitch effect phenomenon is one of the important control problems for ball screw driven industrial systems. There are various practical methods proposed in the literature to compensate for quadrant glitches e.g. model and friction identification, linear/nonlinear control algorithms combined with observer or filter structures. This study aims to present experimentally the effects of observer-based control structures on quadrant errors in ball screw mechanisms. To this end, combinations of various controller and velocity/disturbance observer algorithms are applied to a ball screw driven XY positioning table for a circular motion and experimental results are presented.