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

Soft Comput., pp. 1099-1111, 2009.

Cited by: 4|Views6


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 s...More



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