Fuzzy Boundary Layer Tuning for Sliding Mode Controllers and Its Application on a Direct Drive Robot
Erbatur, Kemalettin and Çallı, Berk (2007) Fuzzy Boundary Layer Tuning for Sliding Mode Controllers and Its Application on a Direct Drive Robot. (Submitted)
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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. The thickness of the boundary layer is an important design parameter. This paper proposes a fuzzy on-line 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 also investigates the stability of SMC with varying boundary layer, and validates the robustness of the algorithm by experiments.
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