Design of fuzzy switching control for an underactuated planar manipulator

Kiyotaka Izumi, Takeshi Tsujimura, Keigo Watanabe

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

Abstract

This paper deals with a switching control method for underactuated manipulators. This method selects a partially-stable controller from a number of partially-stable controllers which are designed fuzzy reasoning. We design switching rules on an error energy plane, in which boundary curves to split an energy plane into utilized partially-stable controllers describe fuzzy rules. In this study, we consider a tree link underactuated planar manipulator which has a passive joint and two active ones. In this paper, we present an evaluation of installation positive joint through some simulations. Design parameters of boundary curves and partially-stable controllers are obtained by genetic algorithms (GAs).

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages1357-1361
Number of pages5
DOIs
Publication statusPublished - 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: Dec 20 2011Dec 22 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period12/20/1112/22/11

Fingerprint

Manipulators
Controllers
Fuzzy rules
Genetic algorithms

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

Cite this

Izumi, K., Tsujimura, T., & Watanabe, K. (2011). Design of fuzzy switching control for an underactuated planar manipulator. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 1357-1361). [6147646] https://doi.org/10.1109/SII.2011.6147646

Design of fuzzy switching control for an underactuated planar manipulator. / Izumi, Kiyotaka; Tsujimura, Takeshi; Watanabe, Keigo.

2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 1357-1361 6147646.

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

Izumi, K, Tsujimura, T & Watanabe, K 2011, Design of fuzzy switching control for an underactuated planar manipulator. in 2011 IEEE/SICE International Symposium on System Integration, SII 2011., 6147646, pp. 1357-1361, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, Japan, 12/20/11. https://doi.org/10.1109/SII.2011.6147646
Izumi K, Tsujimura T, Watanabe K. Design of fuzzy switching control for an underactuated planar manipulator. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 1357-1361. 6147646 https://doi.org/10.1109/SII.2011.6147646
Izumi, Kiyotaka ; Tsujimura, Takeshi ; Watanabe, Keigo. / Design of fuzzy switching control for an underactuated planar manipulator. 2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. pp. 1357-1361
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