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,

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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:	7193
Deposited By:	Kemalettin Erbatur
Deposited On:	20 Nov 2007 09:56
Last Modified:	23 Feb 2010 12:01

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Fuzzy Boundary Layer Tuning as Applied to the Control of a Direct Drive Robot. (deposited 31 Oct 2007 10:42)
- Fuzzy boundary layer tuning as applied to the control of a direct drive robot. (deposited 20 Nov 2007 09:56) [Currently Displayed]

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