Fuzzy Control for Underactuated Manipulator

被引：3
|
作者：
Xia Qixiao [1 ]
Yu, Yue-qing [1 ]
Liu, Qingbo [1 ]
机构：
[1] Beijing Univ Technol, Beijing, Peoples R China
来源：
ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4 | 2013年 / 397-400卷
关键词：
Manipulator; Underactuated; Position control; Fuzzy logic control;
D O I：
10.4028/www.scientific.net/AMM.397-400.1490
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Control of an underactuated manipulator by fuzzy control method is investigated in this paper. The joint angular errors are directly feedbacked to the inputs of the fuzzy system. The MIMO fuzzy controller is decoupled into sub SISO systems for simplification of the design of the system. Numerical simulation for the position control of a planar 3RR (R) over bar was presented for verification of the proposed method.
引用
收藏
页码：1490 / 1493
页数：4
相关论文
共 50 条
  • [11] Control of 2R underactuated manipulator with friction
    Suzuki, T
    Miyoshi, W
    Nakamura, Y
    [J]. PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 2007 - 2012
  • [12] Position control of an underactuated manipulator using joint friction
    Yu, KH
    Shito, Y
    Inooka, H
    [J]. INTERNATIONAL JOURNAL OF NON-LINEAR MECHANICS, 1998, 33 (04) : 607 - 614
  • [13] Analysis and Control of 3R Underactuated Manipulator
    Suzuki, Takahiro
    Kinoshita, Toru
    Gunji, Satoshi
    [J]. 2008 PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-7, 2008, : 2970 - 2975
  • [14] Cascade control of underactuated manipulator based on reinforcement learning framework
    Jiang, Naijing
    Guo, Dingxu
    Zhang, Shu
    Zhang, Dan
    Xu, Jian
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2023, 237 (02) : 231 - 243
  • [15] Intelligent control of a three-DOF planar underactuated manipulator
    Duong, Sam
    Kinjo, Hiroshi
    Uezato, Eiho
    Yamamoto, Tetsuhiko
    [J]. ARTIFICIAL LIFE AND ROBOTICS, 2009, 14 (02) : 284 - 288
  • [16] Control of A 2R Planar Horizontal Underactuated Manipulator
    Chen, Tan
    Goodwine, Bill
    [J]. 16TH IEEE INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2020), 2020, : 925 - 931
  • [17] Nonholonomic control of a three-DOF planar underactuated manipulator
    Arai, H
    Tanie, K
    Shiroma, N
    [J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1998, 14 (05): : 681 - 695
  • [18] Position Control of a Planar Four-Link Underactuated Manipulator
    Liu, Dong
    Lai, Xuzhi
    Wang, Yawu
    Wan, Xiongbo
    [J]. 2018 37TH CHINESE CONTROL CONFERENCE (CCC), 2018, : 929 - 932
  • [19] Optimal Control of 2-Link Underactuated Robot Manipulator
    Kumar, Amit
    Kasera, Shrey
    Prasad, L. B.
    [J]. 2017 INTERNATIONAL CONFERENCE ON INNOVATIONS IN INFORMATION, EMBEDDED AND COMMUNICATION SYSTEMS (ICIIECS), 2017,
  • [20] Underactuated manipulator with control based on vairiable dynamic properties of joints
    Bansevicius, R.
    Sarkauskas, K. K.
    Tolocka, R. T.
    [J]. ELEKTRONIKA IR ELEKTROTECHNIKA, 2007, (07) : 3 - 6
12345