Switching rules based on fuzzy energy regions for a switching control of underactuated robot systems

摘要

One of control methods for underactuated manipulators is known as a switching control which selects a partially- stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method was proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized oine by a genetic algorithm (GA). In this paper, we discuss on parameters obtained by GA. The eectiveness of the switching