Design of fuzzy switching control for an underactuated planar manipulator

Author

Izumi, Kiyotaka ; Tsujimura, Takeshi ; Watanabe, Keigo

Author_Institution

Dept. of Mech. Eng., Saga Univ., Saga, Japan

fYear

2011

fDate

20-22 Dec. 2011

Firstpage

1357

Lastpage

1361

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).

Keywords

control system synthesis; fuzzy control; fuzzy reasoning; genetic algorithms; manipulators; stability; time-varying systems; boundary curves; error energy plane; fuzzy reasoning; fuzzy rules; fuzzy switching control design; genetic algorithms; partially-stable controller; passive joint; switching rules; tree link underactuated planar manipulator; Indexes; Joints; Manipulators; Silicon; Switches; Training;

fLanguage

English

Publisher

ieee

Conference_Titel

System Integration (SII), 2011 IEEE/SICE International Symposium on

Conference_Location

Kyoto

Print_ISBN

978-1-4577-1523-5

Type

conf

DOI

10.1109/SII.2011.6147646

Filename

6147646