{'fraction_non_alphanumeric': 0.015167930660888408, 'fraction_numerical': 0.0, 'mean_word_length': 5.416666666666667, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Accurate position tracking control of a moving stage using an electrorheological fluid clutch

Accurate position trajectory control of a moving stage is undertaken by utilizing an electrorheological (ER) fluid clutch. A new type of bi-directional ER clutch is devised and its field-dependent torque transmission is empirically evaluated. A sliding mode controller integrated with a full-order observer is formulated to achieve position tracking of the moving stage. In order to compensate for nonlinear friction components, the sliding mode controller is augmented with a feedback friction compensator. In the synthesis of the controller, the variation of moment of inertia of the moving stage is treated as a parameter variation to guarantee robustness of control. The proposed control system is experimentally realized, and tracking control responses for step and sinusoidal trajectories are evaluated in the time domain.