Positioning Improvement for a Laser Scanning System using cSORPD control

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review


  • Jose A. Nunez-Lopez
  • Lars Lindner
  • Oleg Sergiyenko
  • Julio C. Rodriguez-Quinonez
  • Wendy Flores-Fuentes
  • Paolo Mercorelli

Friction is one of the significant factors to degrade the transient accuracy of positioning systems. In this respect, the present paper proposes implementing a nonlinear control to perform friction compensation to improve the positioning accuracy for a controlled DC motor of a laser positioning system with friction, which is assumed to be appropriately described using a dynamic friction model. The global asymptotic positioning stability proof was performed using Lyapunov's direct method.

Original languageEnglish
Title of host publicationIECON 2021 - 47th Annual Conference of the IEEE Industrial Electronics Society
Number of pages6
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
Publication date13.10.2021
ISBN (Print)978-1-6654-0256-9
ISBN (Electronic)978-1-6654-3554-3
Publication statusPublished - 13.10.2021
Event47th Annual Conference of the IEEE Industrial Electronics Society - virtuell, Toronto, Canada
Duration: 13.10.202116.10.2021
Conference number: 47

    Research areas

  • Dynamic Friction, Friction Compensation, Laser Scanner, Nonlinear Control, Positioning Laser
  • Engineering