Soft Computing

, 13:1099

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

Original Paper

DOI: 10.1007/s00500-008-0383-z

Cite this article as:
Erbatur, K. & Çallı, B. Soft Comput (2009) 13: 1099. doi: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 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.

Keywords

Sliding mode controlChatteringBoundary layerFuzzy logic

Copyright information

© Springer-Verlag 2008

Authors and Affiliations

  1. 1.Faculty of Engineering and Natural SciencesSabanci UniversityTuzla, IstanbulTurkey