TY - GEN
T1 - NN-compensator with fuzzy based switching for controlling 3-DOF underactuated manipulator
AU - Watanabe, K.
AU - Udawatta, L.
AU - Izumi, K.
AU - Kiguchi, K.
PY - 2003/1/1
Y1 - 2003/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84942521168&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84942521168&partnerID=8YFLogxK
U2 - 10.1109/CIRA.2003.1222067
DO - 10.1109/CIRA.2003.1222067
M3 - Conference contribution
AN - SCOPUS:84942521168
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 79
EP - 84
BT - Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Y2 - 16 July 2003 through 20 July 2003
ER -