title   
  

Fuzzy Boundary Layer Tuning as Applied to the Control of a Direct Drive Robot

Erbatur, Kemalettin and Çallı, Berk (2007) Fuzzy Boundary Layer Tuning as Applied to the Control of a Direct Drive Robot. In: The 33rd Annual Conference of the IEEE Industrial Electronics Society, (Accepted/In Press)

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Abstract

Chattering in the control signal is a significant problem in sliding mode control applications. 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 high gain 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. Experimental results with a two degrees of freedom direct drive robot arm are presented.

Item Type:Papers in Conference Proceedings
Subjects:UNSPECIFIED
ID Code:5899
Deposited By:Kemalettin Erbatur
Deposited On:31 Oct 2007 10:42
Last Modified:20 Nov 2007 09:56

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