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Soft Computing

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01.09.2009 | Original Paper

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

verfasst von: Kemalettin Erbatur, Berk Çallı

Erschienen in: Soft Computing | Ausgabe 11/2009

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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 SMC, 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.

Vorheriger Artikel Computational complexities of axiomatic extensions of monoidal t-norm based logic

Nächster Artikel Inductive semimodules and the vector modules over them

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Titel: Fuzzy boundary layer tuning for sliding mode systems as applied to the control of a direct drive robot
verfasst von: Kemalettin Erbatur
Berk Çallı
Publikationsdatum: 01.09.2009
Verlag: Springer-Verlag
Erschienen in: Soft Computing / Ausgabe 11/2009
Print ISSN: 1432-7643
Elektronische ISSN: 1433-7479
DOI: https://doi.org/10.1007/s00500-008-0383-z

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