Control of three degrees-of-freedom underactuated manipulator using fuzzy based switching

摘要

A novel concept for designing a fuzzy logic-based switching controller to control underactuated manipulators is presented. The proposed controller employs elemental controllers, which are designed in advance. Parameters of both antecedent and consequent parts of a fuzzy indexer are optimized by using evolutionary computation. Design parameters of the fuzzy indexer are encoded into chromosomes, i.e., the shapes of the Gaussian membership functions and corresponding switching laws of the consequent part are evolved to minimize the angular position errors. Then, these trained fuzzy rules can be brought into the online operation of underactuated manipulators. Simulation results show that the new methodology is effective in designing controllers for underactuated robot manipulators.