TY - GEN
T1 - The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
AU - Ichida, Keisuke
AU - Tachibana, Yoshihiro
PY - 2007/12/1
Y1 - 2007/12/1
N2 - 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.
AB - 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.
KW - Fuzzy reasoning
KW - Genetic algorithm
KW - Nonholonomic system
KW - Switching control
KW - Underactuated manipulator
UR - http://www.scopus.com/inward/record.url?scp=48349144347&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349144347&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4406873
DO - 10.1109/ICCAS.2007.4406873
M3 - Conference contribution
AN - SCOPUS:48349144347
SN - 8995003871
SN - 9788995003879
T3 - ICCAS 2007 - International Conference on Control, Automation and Systems
SP - 24
EP - 29
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2007
Y2 - 17 October 2007 through 20 October 2007
ER -