A switching control based fuzzy energy region method for underactuated robots

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.

Original languageEnglish
Title of host publication2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Pages190-195
Number of pages6
Volume2005
DOIs
Publication statusPublished - 2005
Externally publishedYes
Event2005 IEEE Workshop on Advanced Robotics and its Social Impacts - Nagoya, Japan
Duration: Jun 12 2005Jun 15 2005

Other

Other2005 IEEE Workshop on Advanced Robotics and its Social Impacts
CountryJapan
CityNagoya
Period6/12/056/15/05

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Keywords

  • Computed torque control
  • Fuzzy energy based switching
  • Genetic algorithm
  • Switching control
  • Underactuated robot

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Ichida, K., Izumi, K., & Watanabe, K. (2005). A switching control based fuzzy energy region method for underactuated robots. In 2005 IEEE Workshop on Advanced Robotics and its Social Impacts (Vol. 2005, pp. 190-195). [1511649] https://doi.org/10.1109/ARSO.2005.1511649