Fuzzy Energy Based Switching for Three-Link Underactuated Manipulators

摘要

Underactuated manipulators have some passive joints in general, where the number of inputs is less than the degree of freedom. These systems have complex structural properties, and they have to control a lot of generalized coordinates by few inputs. However, reducing the number of actuators brings some advantages such as lighting, compactification and cost reduction. We have already proposed a switching control method based on fuzzy energy regions. In this way, to use some partial stabilizing controllers based on the computed torque switching method, we need to design parameters related to energy regions and gains. The present switching method is applied for a three-link underactuated manipulator. We optimize such design parameters related to fuzzy energy regions by a genetic algorithm. The effectiveness of the present method is illustrated with some simulations.