Design of fuzzy switching control for an underactuated planar manipulator

Kiyotaka Izumi; Takeshi Tsujimura; Keigo Watanabe

doi:10.1109/SII.2011.6147646

Design of fuzzy switching control for an underactuated planar manipulator

Kiyotaka Izumi, Takeshi Tsujimura, Keigo Watanabe

School of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages	1357-1361
Number of pages	5
DOIs	https://doi.org/10.1109/SII.2011.6147646
Publication status	Published - Dec 1 2011
Event	2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan Duration: Dec 20 2011 → Dec 22 2011

Publication series

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

Other

Other	2011 IEEE/SICE International Symposium on System Integration, SII 2011
Country/Territory	Japan
City	Kyoto
Period	12/20/11 → 12/22/11

ASJC Scopus subject areas

Computer Networks and Communications
Control and Systems Engineering

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10.1109/SII.2011.6147646

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Design of fuzzy switching control for an underactuated planar manipulator. / Izumi, Kiyotaka; Tsujimura, Takeshi; Watanabe, Keigo.
2011 IEEE/SICE International Symposium on System Integration, SII 2011. 2011. p. 1357-1361 6147646 (2011 IEEE/SICE International Symposium on System Integration, SII 2011).

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

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., 6147646, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, pp. 1357-1361, 2011 IEEE/SICE International Symposium on System Integration, SII 2011, Kyoto, Japan, 12/20/11. https://doi.org/10.1109/SII.2011.6147646

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Design of fuzzy switching control for an underactuated planar manipulator

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