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 - Dec 1 2011
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: Dec 20 2011Dec 22 2011

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Control and Systems Engineering

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  • 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] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147646