A New Fuzzy Method for the Motion Control of Underactuated Robots Based on Genetic Algorithm

被引：3
|
作者：
Liu, Qingbo [1 ]
Yu, Yueqing [1 ]
Xia, Qixiao [1 ]
Su, Liying [1 ]
机构：
[1] Beijing Univ Technol, Coll Mech Engn & Appl Elect Technol, Beijing 100022, Peoples R China
来源：
2008 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-5 | 2008年
关键词：
D O I：
10.1109/FUZZY.2008.4630491
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A new fuzzy method for the motion control of underactuated robots is proposed in this paper. The control objective is to move the end-effector from a given position to a target point. A new fuzzy controller for the motion control of underactuated robots is present. The best fuzzy control rules and optimal membership functions are automatically generated off-tine by the global optimization of genetic algorithm. Because the proposed method does not make any hypothesis about the degree of freedom and unconsidering the rigorous linearizations to the original nonlinear system, it can be used without modification for arms with a large number of degree of freedom. At last, numerical simulations which are carried on the planar 2R underactuated robots show the effectiveness of the proposed method.
引用
收藏
页码：999 / 1003
页数：5
相关论文
共 50 条
  • [21] Underactuated Motion Planning and Control for Jumping With Wheeled-Bipedal Robots
    Chen, Hua
    Wang, Bingheng
    Hong, Zejun
    Shen, Cong
    Wensing, Patrick M.
    Zhang, Wei
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 6 (02) : 747 - 754
  • [22] A New Method for Short Multivariate Fuzzy Time Series Based on Genetic Algorithm and Fuzzy Clustering
    Selim, Kamal S.
    Elanany, Gihan A.
    ADVANCES IN FUZZY SYSTEMS, 2013, 2013
  • [23] A Fuzzy Logic Based Motion Control for Nonholonomic Mobile Manipulator Robots
    Fateh, Mohammad Mahdi
    Shahri, Majid Abedinzadeh
    2014 SECOND RSI/ISM INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM), 2014, : 613 - 618
  • [24] Fuzzy/Kalman hierarchical horizontal motion control of underactuated ROVs
    Raimondi F.M.
    Melluso M.
    International Journal of Advanced Robotic Systems, 2010, 7 (02) : 139 - 154
  • [25] Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs
    Raimondi, Francesco M.
    Melluso, Maurizio
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2010, 7 (02): : 139 - 154
  • [26] Finite-time control strategy for swarm planar underactuated robots via motion planning and intelligent algorithm
    Huang, Zixin
    Wei, Shaoqi
    Hou, Mengyu
    Wang, Lejun
    MEASUREMENT & CONTROL, 2023, 56 (3-4): : 813 - 819
  • [27] A LEARNING FUZZY ALGORITHM FOR MOTION PLANNING OF MOBILE ROBOTS
    WU, CJ
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 1994, 11 (03) : 209 - 221
  • [28] Learning fuzzy algorithm for motion planning of mobile robots
    Wu, Chia-Ju
    Journal of Intelligent and Robotic Systems: Theory and Applications, 1994, 11 (03): : 209 - 221
  • [29] Asymptotic Stabilization Control of an Underactuated Surface Vessel with Optimization Based on Genetic Algorithm
    Liu, Yang
    Guo, Chen
    Zhou, Ruolin
    2008 INTERNATIONAL SYMPOSIUM ON INTELLIGENT INFORMATION TECHNOLOGY APPLICATION, VOL III, PROCEEDINGS, 2008, : 622 - +
  • [30] Identification of Underactuated Manipulator Based On Genetic Algorithm
    Xu, Wuxiao
    Liu, Jinkun
    2012 10TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), 2012, : 653 - 656
12345