1-308 A Robust Fuzzy Rule Construction for Controlling of Underactuated Manipulators with Switching Controllers

概要

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We describe a methodology for designing a fuzzy logic based switching controller, in order to control underactuated manipulators with employing partly stable controllers (PSCs). Parameters of both antecedent and consequent parts of a fuzzy indexer are optimized by using evolutionary computation and it is performed off-line. 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. Such parameters are trained for different initial configurations of the manipulator and the common rule base is extracted. 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.
一般社団法人日本機械学会の論文
2002-11-14