Chattering elimination of via fuzzy boundary layer tuning

IECON Proceedings (Industrial Electronics Conference)

Volumn 3, Issue , 2002, Pages 2131-2136

  Erbatur, Kemalettin ^a   Kawamura, Atsuo ^b  

^a SABANCI UNIVERSITY   (Turkey)

^b YOKOHAMA NATIONAL UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

BOUNDARY LAYER TUNING; CHATTERING; ONLINE TUNING ALGORITHM;

ALGORITHMS; BOUNDARY LAYERS; COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; FUZZY CONTROL; ROBOTIC ARMS; SLIDING MODE CONTROL;

MOTION CONTROL;

EID: 0036954769     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IECON.2002.1185302     Document Type: Conference Paper

References (15)

1. Utkin, V. I., "Variable Structure Systems with Sliding Modes," IEEE Transactions on Automatic Control, ACC-22-2, pp.212-222, 1977.
2. Young, K. D., V. I. Utkin, and U. Ozguner, "A Control Engineer's Guide to Sliding Mode Control," IEEE Transactions on Control Systems Technology, Vol. 7, No. 3, pp 328-342, May 1999.
3. Utkin, V. I., Sliding Modes in Control Optimization, New York: Springer-Verlag, 1992.
4. Slotline, J. J., and S.S. Shastry, "Tracking Control of Nonlinear Systems Using Sliding Surfaces with Application to Robot Manipulators," International Journal of Control, v. 38, pp. 465-492, 1983.
5. Milosavljevic, C., "General Conditions for the Existence of a Quasi-Sliding Mode on the Switching Hyperplane in Discrete Variable Structure Systems," Automatic Remote Control, 46, No. 3, pp. 307-314, 1985
6. Sarpturk, S., Y. Istefanopulos and O. Kaynak, "On the Stability of the Discrete-Time Sliding Mode Control Systems," IEEE Transactions on Automatic Control, 32, No. 10, pp. 930-932, 1987
7. Sira-Ramirez, H., "Nonlinear Discrete Variable Structure Systems in Quasi-Sliding Mode," International Journal of Control, 54, 445-456, 1991
8. Koshkouei, A. J. and A. S. I. Zinober, "Sliding Mode Control of Discrete Time Systems," Journal of Dynamic Systems, Measurement and Control, Vol. 122, pp. 793-802, 2000
9. Chen, X. and T. Fukuda, "Computer-Controlled Continuous-Time Variable Structure Systems with Sliding Modes," International Journal of Control, Vol. 67, No. 4, pp. 619-639, 1997
10. Slotine, J. J., and W. Li, Applied Nonlinear Control, New Jersey: Prentice Hall, 1991.
11. Elmali, H., and N. Olgac, "Robust Output Tracking Control of Nonlinear MIMO Systems via Sliding Mode Technique," Automatica, v. 28, pp. 145-151, 1992.
12. Izosimov, D. B., and V. I. Utkin, "On Equivalence of Systems with Large Coefficients and Systems with Nonlinear Control," Automation and Remote Control, v.11, pp. 189-191, 1981.
13. Kaynak, O., K. Erbatur, M. Ertugrul, "The Fusion of Computationally Intelligent Methodologies and Sliding Mode Control - A Survey", IEEE Transactions on Industrial Electronics, Vol. 48, No. 1, pp. 4-17, Feb. 2001.
14. Erbatur, K., O. Kaynak, A. Sabanovic and I. Rudas, "Fuzzy Adaptive Sliding Mode Control of a Direct Drive Robot," Robotics And Autonomous Systems, Vol. 19, No. pp. 215-227: 2, 1996.
15. Erbatur, K., A. Kawamura, "Automatic Tuning of the Boundary Layer Thickness for Sliding Mode Motion Controllers via the Use of Chattering Detection," Proc. of Japanese IASC'01, Vol. 3, pp. 1557-1562, Matsue, Japan, 2001.