The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators

Kiyotaka Izumi, Keigo Watanabe, Keisuke Ichida, Yoshihiro Tachibana

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

3 Citations (Scopus)

Abstract

One of control methods used in underactuated manipulators is known as a switching control, which selects a partially-stable controller with a prespecified switching rule. A switching computed torque control integrated with a fuzzy-energy regions method has been proposed, and applied to control a two degrees-of-freedom (dofs) underactuated manipulator with one active degree-of-freedom (dof) and one passive dof. The energy space used to design the switching rules was a two-dimensional space. However, it is difficult to design a controller for underactuated systems with more than two-dofs. In this paper, we propose a switching rule for three-dofs underactuated manipulator with suitable mapping to reduce the dimension of energy space. The effectiveness of the proposed method is illustrated through simulations with a three-dofs underactuated manipulator.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages24-29
Number of pages6
DOIs
Publication statusPublished - Dec 1 2007
Externally publishedYes
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: Oct 17 2007Oct 20 2007

Publication series

NameICCAS 2007 - International Conference on Control, Automation and Systems

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
Country/TerritoryKorea, Republic of
CitySeoul
Period10/17/0710/20/07

Keywords

  • Fuzzy reasoning
  • Genetic algorithm
  • Nonholonomic system
  • Switching control
  • Underactuated manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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