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

2 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 - 2007
Externally publishedYes
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: Oct 17 2007Oct 20 2007

Other

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

Fingerprint

Manipulators
Controllers
Torque control

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Izumi, K., Watanabe, K., Ichida, K., & Tachibana, Y. (2007). The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 24-29). [4406873] https://doi.org/10.1109/ICCAS.2007.4406873

The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators. / Izumi, Kiyotaka; Watanabe, Keigo; Ichida, Keisuke; Tachibana, Yoshihiro.

ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 24-29 4406873.

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

Izumi, K, Watanabe, K, Ichida, K & Tachibana, Y 2007, The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators. in ICCAS 2007 - International Conference on Control, Automation and Systems., 4406873, pp. 24-29, International Conference on Control, Automation and Systems, ICCAS 2007, Seoul, Korea, Republic of, 10/17/07. https://doi.org/10.1109/ICCAS.2007.4406873
Izumi K, Watanabe K, Ichida K, Tachibana Y. The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators. In ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 24-29. 4406873 https://doi.org/10.1109/ICCAS.2007.4406873
Izumi, Kiyotaka ; Watanabe, Keigo ; Ichida, Keisuke ; Tachibana, Yoshihiro. / The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators. ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. pp. 24-29
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