NN-compensator with fuzzy based switching for controlling 3-DOF underactuated manipulator

Keigo Watanabe, L. Udawatta, K. Izumi, K. Kiguchi

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

Abstract

A novel control algorithm for controlling underactuated robot manipulators using fuzzy based switching with an NN-compensator is presented. One fundamental feature of this approach is to employ elemental controllers in order to fulfill the ultimate control objective, without performing rigorous linearizations or any other augmentation methods to the original nonlinear system. Parameters of both antecedent and consequent parts of a fuzzy indexer and the compensator are optimized off-line by using evolutionary computation. Such parameters are trained for different initial configurations of the manipulator and the common rules can be brought into the online operation of underactuated manipulators. The effectiveness of the proposed method is demonstrated using a computer simulation.

Original languageEnglish
Title of host publicationProceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages79-84
Number of pages6
Volume1
ISBN (Print)0780378660
DOIs
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003 - Kobe, Japan
Duration: Jul 16 2003Jul 20 2003

Other

Other2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
CountryJapan
CityKobe
Period7/16/037/20/03

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ASJC Scopus subject areas

  • Computational Mathematics

Cite this

Watanabe, K., Udawatta, L., Izumi, K., & Kiguchi, K. (2003). NN-compensator with fuzzy based switching for controlling 3-DOF underactuated manipulator. In Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA (Vol. 1, pp. 79-84). [1222067] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CIRA.2003.1222067