Fuzzy Rules Extraction by GA for Controlling 2-DOF Underactuated Planar Manipulators

DOI
  • Udawatta Lanka
    Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University
  • Watanabe Keigo
    Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University
  • Izumi Kiyotaka
    Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University
  • Kiguchi Kazuo
    Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University

書誌事項

タイトル別名
  • —Switching Computed Torque Approach—

説明

We propose a method of fuzzy rule extraction for switching partly stable controllers (PSCs) for online operations of underactuated manipulators. The fuzzy rule base of switching the PSCs is optimized using GA and the optimization is performed off-line. Design parameters of the fuzzy rules are encoded into chromosomes and shapes of the Gaussian functions are evolved to minimize the angular position errors. The angular position errors are used as the inputs to the Gaussian membership functions in the antecedent part and the one index of the PSCs is assigned in the consequent part of the fuzzy reasoning. Then, this trained rule base can be brought into the online operation of the underactuated manipulator. The effectiveness of the concept is illustrated by taking a 2-DOF RR planar manipulator and results show the effectiveness of the proposed control methodology.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390001205585558784
  • NII論文ID
    130006960449
  • DOI
    10.11499/sicep.2002.0.480.0
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • CiNii Articles
  • 抄録ライセンスフラグ
    使用不可

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