Control of three-link underactuated manipulators using a switching method of fuzzy energy regions

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe, Nobuhiro Uchida

Research output: Contribution to journalArticle

4 Citations (Scopus)


In general, manipulators used for industry and in academic laboratories have actuators to drive each joint. On the other hand, underactuated manipulators handled by our research have some passive or free joints without actuators and brakes. We recently developed a switching method of fuzzy energy regions to control such manipulators. In such a method, it is necessary to design parameters related to energy regions and the gains of some partly stable controllers based on the computed torque method. Here, the switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations.

Original languageEnglish
Pages (from-to)258-263
Number of pages6
JournalArtificial Life and Robotics
Issue number1-2
Publication statusPublished - 2008
Externally publishedYes



  • Computed torque switching control
  • Fuzzy switching method
  • Nonholonomic system
  • Nonlinear control
  • Underactuated manipulator

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biochemistry, Genetics and Molecular Biology(all)

Cite this