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.
Switching control
Underactuated manipulator
Nonholonomic system
Nonlinear control
Genetic algorithm