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Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot

Erbatur, Kemalettin and Çallı, Berk (2009) Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot. Soft Computing, 13 (11). pp. 1099-1111. ISSN 1432-7643 (Print) 1433-7479 (Online)

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Official URL: http://dx.doi.org/10.1007/s00500-008-0383-z

Abstract

Chattering in the control signal is a significant problem in sliding mode control (SMC). The boundary layer approach is one of the many modifications proposed in the literature to avoid the chattering. In this approach, instead of the discontinuous sliding mode control, a continuous feedback control law is employed in a boundary layer around the sliding surface. The thickness of the boundary layer is an important design parameter. This paper proposes a fuzzy online tuning method to adjust the boundary layer thickness for the best system performance without chattering. The method features the measurement of the chattering in the control signal. The paper validates the performance of the algorithm by experiments on a direct drive robot with a range of different payloads.

Item Type:Article
Uncontrolled Keywords:Sliding mode control; Chattering; Boundary layer; Fuzzy logic
Subjects:UNSPECIFIED
ID Code:13013
Deposited By:Kemalettin Erbatur
Deposited On:01 Dec 2009 19:28
Last Modified:25 May 2011 14:20

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