A switching control based fuzzy energy region method for underactuated robots

Keisuke Ichida; Kiyotaka Izumi; Keigo Watanabe

doi:10.1109/ARSO.2005.1511649

A switching control based fuzzy energy region method for underactuated robots

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.

Original language	English
Title of host publication	2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Pages	190-195
Number of pages	6
DOIs	https://doi.org/10.1109/ARSO.2005.1511649
Publication status	Published - Dec 1 2005
Externally published	Yes
Event	2005 IEEE Workshop on Advanced Robotics and its Social Impacts - Nagoya, Japan Duration: Jun 12 2005 → Jun 15 2005

Publication series

Name	2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Volume	2005

Other

Other	2005 IEEE Workshop on Advanced Robotics and its Social Impacts
Country/Territory	Japan
City	Nagoya
Period	6/12/05 → 6/15/05

Keywords

Computed torque control
Fuzzy energy based switching
Genetic algorithm
Switching control
Underactuated robot

ASJC Scopus subject areas

Engineering(all)

Access to Document

10.1109/ARSO.2005.1511649

Cite this

A switching control based fuzzy energy region method for underactuated robots. / Ichida, Keisuke; Izumi, Kiyotaka; Watanabe, Keigo.
2005 IEEE Workshop on Advanced Robotics and its Social Impacts. 2005. p. 190-195 1511649 (2005 IEEE Workshop on Advanced Robotics and its Social Impacts; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Ichida, K, Izumi, K & Watanabe, K 2005, A switching control based fuzzy energy region method for underactuated robots. in 2005 IEEE Workshop on Advanced Robotics and its Social Impacts., 1511649, 2005 IEEE Workshop on Advanced Robotics and its Social Impacts, vol. 2005, pp. 190-195, 2005 IEEE Workshop on Advanced Robotics and its Social Impacts, Nagoya, Japan, 6/12/05. https://doi.org/10.1109/ARSO.2005.1511649

@inproceedings{c6406c97ed1e45f0bbd8cbf90a3fa039,

title = "A switching control based fuzzy energy region method for underactuated robots",

abstract = "One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.",

keywords = "Computed torque control, Fuzzy energy based switching, Genetic algorithm, Switching control, Underactuated robot",

author = "Keisuke Ichida and Kiyotaka Izumi and Keigo Watanabe",

year = "2005",

month = dec,

day = "1",

doi = "10.1109/ARSO.2005.1511649",

language = "English",

isbn = "0780389476",

series = "2005 IEEE Workshop on Advanced Robotics and its Social Impacts",

pages = "190--195",

booktitle = "2005 IEEE Workshop on Advanced Robotics and its Social Impacts",

note = "2005 IEEE Workshop on Advanced Robotics and its Social Impacts ; Conference date: 12-06-2005 Through 15-06-2005",

}

TY - GEN

T1 - A switching control based fuzzy energy region method for underactuated robots

AU - Ichida, Keisuke

AU - Izumi, Kiyotaka

AU - Watanabe, Keigo

PY - 2005/12/1

Y1 - 2005/12/1

N2 - One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.

AB - One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method has been already proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss about the controlled system using the proposed method with parameters designed by GA.

KW - Computed torque control

KW - Fuzzy energy based switching

KW - Genetic algorithm

KW - Switching control

KW - Underactuated robot

UR - http://www.scopus.com/inward/record.url?scp=33746848131&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=33746848131&partnerID=8YFLogxK

U2 - 10.1109/ARSO.2005.1511649

DO - 10.1109/ARSO.2005.1511649

M3 - Conference contribution

AN - SCOPUS:33746848131

SN - 0780389476

SN - 9780780389472

T3 - 2005 IEEE Workshop on Advanced Robotics and its Social Impacts

SP - 190

EP - 195

BT - 2005 IEEE Workshop on Advanced Robotics and its Social Impacts

T2 - 2005 IEEE Workshop on Advanced Robotics and its Social Impacts

Y2 - 12 June 2005 through 15 June 2005

ER -

A switching control based fuzzy energy region method for underactuated robots

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this