Controller Design Parameter Optimization for Three-DOF Underactuated Manipulators Using Switching Method
宇部工業高等専門学校研究報告 Volume 61
Page 11-16
published_at 2015-03
Title
直動型３自由度劣駆動マニピュレータの切換え制御法における制御器設計パラメータ最適化
Controller Design Parameter Optimization for Three-DOF Underactuated Manipulators Using Switching Method
Source Identifiers
Creator Keywords
Switching control
Underactuated manipulator
Nonholonomic system
Nonlinear control
Genetic algorithm
Underactuated manipulators have some passive joints in general, where the number of inputs is less than the degrees of freedom.These systems have complex properties in structure,and they have to control a lot of generalized coordinates by few inputs.In this paper,we discuss the application of a logic based switching method,which has been proposed originally by Hespanha and Morse.We need to decide controller design paramenters to use the switching method.Then we optimize such design paramenters by a genetic algorithm.The effectiveness of the present methods is illustrated with some simulations.
Languages
jpn
Resource Type
departmental bulletin paper
Publishers
宇部工業高等専門学校
Date Issued
2015-03
File Version
Version of Record
Access Rights
open access
Relations
[ISSN]0386-4359
[NCID]AN00019833