Control of Underactuated Manipulators using Fuzzy Logic Based Switching Controller View Full Text


Ontology type: schema:ScholarlyArticle     


Article Info

DATE

2003-10

AUTHORS

Lanka Udawatta, Keigo Watanabe, Kiyotaka Izumi, Kazuo Kiguchi

ABSTRACT

This paper introduces a new concept for designing a fuzzy logic based switching controller in order to control underactuated manipulators. The proposed controller employs elemental controllers, which are designed in advance. Parameters of both antecedent and consequent parts of a fuzzy indexer are optimized by using evolutionary computation, which 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 indices 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 operations of underactuated manipulators. 2-DOF underactuated manipulator is taken into consideration so as to illustrate the design procedure. Computer simulation results show that the new methodology is effective in designing controllers for underactuated robot manipulators. More... »

PAGES

155-173

References to SciGraph publications

  • 2005-06-21. Underactuated mechanical systems in CONTROL PROBLEMS IN ROBOTICS AND AUTOMATION
  • 2000-07. A fuzzy PID controller for nonlinear and uncertain systems in SOFT COMPUTING
  • 1997-04. Fuzzy control of complex systems in SOFT COMPUTING
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1023/a:1027363631077

    DOI

    http://dx.doi.org/10.1023/a:1027363631077

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1040088850


    Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
    Incoming Citations Browse incoming citations for this publication using opencitations.net

    JSON-LD is the canonical representation for SciGraph data.

    TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

    [
      {
        "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
        "about": [
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/0801", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Artificial Intelligence and Image Processing", 
            "type": "DefinedTerm"
          }, 
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/08", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Information and Computing Sciences", 
            "type": "DefinedTerm"
          }
        ], 
        "author": [
          {
            "affiliation": {
              "alternateName": "Saga University", 
              "id": "https://www.grid.ac/institutes/grid.412339.e", 
              "name": [
                "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Udawatta", 
            "givenName": "Lanka", 
            "id": "sg:person.015370205617.35", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015370205617.35"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Saga University", 
              "id": "https://www.grid.ac/institutes/grid.412339.e", 
              "name": [
                "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Watanabe", 
            "givenName": "Keigo", 
            "id": "sg:person.015455032037.26", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015455032037.26"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Saga University", 
              "id": "https://www.grid.ac/institutes/grid.412339.e", 
              "name": [
                "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Izumi", 
            "givenName": "Kiyotaka", 
            "id": "sg:person.01277760753.11", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01277760753.11"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Saga University", 
              "id": "https://www.grid.ac/institutes/grid.412339.e", 
              "name": [
                "Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Kiguchi", 
            "givenName": "Kazuo", 
            "id": "sg:person.010020372111.48", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010020372111.48"
            ], 
            "type": "Person"
          }
        ], 
        "citation": [
          {
            "id": "sg:pub.10.1007/s005000000039", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1002466209", 
              "https://doi.org/10.1007/s005000000039"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0921-8890(00)00123-8", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1015878843"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/0304-3975(95)00178-6", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1025630808"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/bfb0015081", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1035817398", 
              "https://doi.org/10.1007/bfb0015081"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/s005000050005", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1036436525", 
              "https://doi.org/10.1007/s005000050005"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0141-9331(99)00045-9", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1049103348"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/37.476384", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061163152"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/4235.687880", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061171992"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/4235.996019", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061172127"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/70.246052", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061216007"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/70.843166", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061216734"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/87.974334", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061242020"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/9.317113", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061244129"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/9.554398", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061245149"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/9.995038", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1061246993"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s1474-6670(17)33165-8", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1085442322"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/sice.2002.1195736", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1095668743"
            ], 
            "type": "CreativeWork"
          }
        ], 
        "datePublished": "2003-10", 
        "datePublishedReg": "2003-10-01", 
        "description": "This paper introduces a new concept for designing a fuzzy logic based switching controller in order to control underactuated manipulators. The proposed controller employs elemental controllers, which are designed in advance. Parameters of both antecedent and consequent parts of a fuzzy indexer are optimized by using evolutionary computation, which 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 indices 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 operations of underactuated manipulators. 2-DOF underactuated manipulator is taken into consideration so as to illustrate the design procedure. Computer simulation results show that the new methodology is effective in designing controllers for underactuated robot manipulators.", 
        "genre": "research_article", 
        "id": "sg:pub.10.1023/a:1027363631077", 
        "inLanguage": [
          "en"
        ], 
        "isAccessibleForFree": false, 
        "isPartOf": [
          {
            "id": "sg:journal.1135942", 
            "issn": [
              "0921-0296", 
              "1573-0409"
            ], 
            "name": "Journal of Intelligent & Robotic Systems", 
            "type": "Periodical"
          }, 
          {
            "issueNumber": "2", 
            "type": "PublicationIssue"
          }, 
          {
            "type": "PublicationVolume", 
            "volumeNumber": "38"
          }
        ], 
        "name": "Control of Underactuated Manipulators using Fuzzy Logic Based Switching Controller", 
        "pagination": "155-173", 
        "productId": [
          {
            "name": "readcube_id", 
            "type": "PropertyValue", 
            "value": [
              "bef7e7138527989a4b725afa032dc6bc6151f3019af9763283139c67dcd9c838"
            ]
          }, 
          {
            "name": "doi", 
            "type": "PropertyValue", 
            "value": [
              "10.1023/a:1027363631077"
            ]
          }, 
          {
            "name": "dimensions_id", 
            "type": "PropertyValue", 
            "value": [
              "pub.1040088850"
            ]
          }
        ], 
        "sameAs": [
          "https://doi.org/10.1023/a:1027363631077", 
          "https://app.dimensions.ai/details/publication/pub.1040088850"
        ], 
        "sdDataset": "articles", 
        "sdDatePublished": "2019-04-10T19:02", 
        "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
        "sdPublisher": {
          "name": "Springer Nature - SN SciGraph project", 
          "type": "Organization"
        }, 
        "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8678_00000482.jsonl", 
        "type": "ScholarlyArticle", 
        "url": "http://link.springer.com/10.1023/A:1027363631077"
      }
    ]
     

    Download the RDF metadata as:  json-ld nt turtle xml License info

    HOW TO GET THIS DATA PROGRAMMATICALLY:

    JSON-LD is a popular format for linked data which is fully compatible with JSON.

    curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1023/a:1027363631077'

    N-Triples is a line-based linked data format ideal for batch operations.

    curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1023/a:1027363631077'

    Turtle is a human-readable linked data format.

    curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1023/a:1027363631077'

    RDF/XML is a standard XML format for linked data.

    curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1023/a:1027363631077'


     

    This table displays all metadata directly associated to this object as RDF triples.

    136 TRIPLES      21 PREDICATES      44 URIs      19 LITERALS      7 BLANK NODES

    Subject Predicate Object
    1 sg:pub.10.1023/a:1027363631077 schema:about anzsrc-for:08
    2 anzsrc-for:0801
    3 schema:author N97316e02087d4846921f1b7d84174353
    4 schema:citation sg:pub.10.1007/bfb0015081
    5 sg:pub.10.1007/s005000000039
    6 sg:pub.10.1007/s005000050005
    7 https://doi.org/10.1016/0304-3975(95)00178-6
    8 https://doi.org/10.1016/s0141-9331(99)00045-9
    9 https://doi.org/10.1016/s0921-8890(00)00123-8
    10 https://doi.org/10.1016/s1474-6670(17)33165-8
    11 https://doi.org/10.1109/37.476384
    12 https://doi.org/10.1109/4235.687880
    13 https://doi.org/10.1109/4235.996019
    14 https://doi.org/10.1109/70.246052
    15 https://doi.org/10.1109/70.843166
    16 https://doi.org/10.1109/87.974334
    17 https://doi.org/10.1109/9.317113
    18 https://doi.org/10.1109/9.554398
    19 https://doi.org/10.1109/9.995038
    20 https://doi.org/10.1109/sice.2002.1195736
    21 schema:datePublished 2003-10
    22 schema:datePublishedReg 2003-10-01
    23 schema:description This paper introduces a new concept for designing a fuzzy logic based switching controller in order to control underactuated manipulators. The proposed controller employs elemental controllers, which are designed in advance. Parameters of both antecedent and consequent parts of a fuzzy indexer are optimized by using evolutionary computation, which 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 indices 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 operations of underactuated manipulators. 2-DOF underactuated manipulator is taken into consideration so as to illustrate the design procedure. Computer simulation results show that the new methodology is effective in designing controllers for underactuated robot manipulators.
    24 schema:genre research_article
    25 schema:inLanguage en
    26 schema:isAccessibleForFree false
    27 schema:isPartOf N055230f17d06449ca0573194e04de516
    28 N7a5055cab9964013820c6336d6136680
    29 sg:journal.1135942
    30 schema:name Control of Underactuated Manipulators using Fuzzy Logic Based Switching Controller
    31 schema:pagination 155-173
    32 schema:productId N1ed9cb3e53cc470f94a2661a2f959238
    33 N6cbfd9ccd33c4a75823a308920779352
    34 Nea914207f8ab462b9b54c04fc0371a8d
    35 schema:sameAs https://app.dimensions.ai/details/publication/pub.1040088850
    36 https://doi.org/10.1023/a:1027363631077
    37 schema:sdDatePublished 2019-04-10T19:02
    38 schema:sdLicense https://scigraph.springernature.com/explorer/license/
    39 schema:sdPublisher N10a5a81217af4454806dea9c0856c457
    40 schema:url http://link.springer.com/10.1023/A:1027363631077
    41 sgo:license sg:explorer/license/
    42 sgo:sdDataset articles
    43 rdf:type schema:ScholarlyArticle
    44 N055230f17d06449ca0573194e04de516 schema:volumeNumber 38
    45 rdf:type schema:PublicationVolume
    46 N10a5a81217af4454806dea9c0856c457 schema:name Springer Nature - SN SciGraph project
    47 rdf:type schema:Organization
    48 N1ed9cb3e53cc470f94a2661a2f959238 schema:name dimensions_id
    49 schema:value pub.1040088850
    50 rdf:type schema:PropertyValue
    51 N21ca7af5ec2a4a00aa446d3f688f9587 rdf:first sg:person.01277760753.11
    52 rdf:rest Ndd629f4f73014f2296ac7692d8c2f16e
    53 N6cbfd9ccd33c4a75823a308920779352 schema:name readcube_id
    54 schema:value bef7e7138527989a4b725afa032dc6bc6151f3019af9763283139c67dcd9c838
    55 rdf:type schema:PropertyValue
    56 N7a5055cab9964013820c6336d6136680 schema:issueNumber 2
    57 rdf:type schema:PublicationIssue
    58 N8a9d578573174b67bc97af28b80c602f rdf:first sg:person.015455032037.26
    59 rdf:rest N21ca7af5ec2a4a00aa446d3f688f9587
    60 N97316e02087d4846921f1b7d84174353 rdf:first sg:person.015370205617.35
    61 rdf:rest N8a9d578573174b67bc97af28b80c602f
    62 Ndd629f4f73014f2296ac7692d8c2f16e rdf:first sg:person.010020372111.48
    63 rdf:rest rdf:nil
    64 Nea914207f8ab462b9b54c04fc0371a8d schema:name doi
    65 schema:value 10.1023/a:1027363631077
    66 rdf:type schema:PropertyValue
    67 anzsrc-for:08 schema:inDefinedTermSet anzsrc-for:
    68 schema:name Information and Computing Sciences
    69 rdf:type schema:DefinedTerm
    70 anzsrc-for:0801 schema:inDefinedTermSet anzsrc-for:
    71 schema:name Artificial Intelligence and Image Processing
    72 rdf:type schema:DefinedTerm
    73 sg:journal.1135942 schema:issn 0921-0296
    74 1573-0409
    75 schema:name Journal of Intelligent & Robotic Systems
    76 rdf:type schema:Periodical
    77 sg:person.010020372111.48 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
    78 schema:familyName Kiguchi
    79 schema:givenName Kazuo
    80 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.010020372111.48
    81 rdf:type schema:Person
    82 sg:person.01277760753.11 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
    83 schema:familyName Izumi
    84 schema:givenName Kiyotaka
    85 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01277760753.11
    86 rdf:type schema:Person
    87 sg:person.015370205617.35 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
    88 schema:familyName Udawatta
    89 schema:givenName Lanka
    90 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015370205617.35
    91 rdf:type schema:Person
    92 sg:person.015455032037.26 schema:affiliation https://www.grid.ac/institutes/grid.412339.e
    93 schema:familyName Watanabe
    94 schema:givenName Keigo
    95 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.015455032037.26
    96 rdf:type schema:Person
    97 sg:pub.10.1007/bfb0015081 schema:sameAs https://app.dimensions.ai/details/publication/pub.1035817398
    98 https://doi.org/10.1007/bfb0015081
    99 rdf:type schema:CreativeWork
    100 sg:pub.10.1007/s005000000039 schema:sameAs https://app.dimensions.ai/details/publication/pub.1002466209
    101 https://doi.org/10.1007/s005000000039
    102 rdf:type schema:CreativeWork
    103 sg:pub.10.1007/s005000050005 schema:sameAs https://app.dimensions.ai/details/publication/pub.1036436525
    104 https://doi.org/10.1007/s005000050005
    105 rdf:type schema:CreativeWork
    106 https://doi.org/10.1016/0304-3975(95)00178-6 schema:sameAs https://app.dimensions.ai/details/publication/pub.1025630808
    107 rdf:type schema:CreativeWork
    108 https://doi.org/10.1016/s0141-9331(99)00045-9 schema:sameAs https://app.dimensions.ai/details/publication/pub.1049103348
    109 rdf:type schema:CreativeWork
    110 https://doi.org/10.1016/s0921-8890(00)00123-8 schema:sameAs https://app.dimensions.ai/details/publication/pub.1015878843
    111 rdf:type schema:CreativeWork
    112 https://doi.org/10.1016/s1474-6670(17)33165-8 schema:sameAs https://app.dimensions.ai/details/publication/pub.1085442322
    113 rdf:type schema:CreativeWork
    114 https://doi.org/10.1109/37.476384 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061163152
    115 rdf:type schema:CreativeWork
    116 https://doi.org/10.1109/4235.687880 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061171992
    117 rdf:type schema:CreativeWork
    118 https://doi.org/10.1109/4235.996019 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061172127
    119 rdf:type schema:CreativeWork
    120 https://doi.org/10.1109/70.246052 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216007
    121 rdf:type schema:CreativeWork
    122 https://doi.org/10.1109/70.843166 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061216734
    123 rdf:type schema:CreativeWork
    124 https://doi.org/10.1109/87.974334 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061242020
    125 rdf:type schema:CreativeWork
    126 https://doi.org/10.1109/9.317113 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061244129
    127 rdf:type schema:CreativeWork
    128 https://doi.org/10.1109/9.554398 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061245149
    129 rdf:type schema:CreativeWork
    130 https://doi.org/10.1109/9.995038 schema:sameAs https://app.dimensions.ai/details/publication/pub.1061246993
    131 rdf:type schema:CreativeWork
    132 https://doi.org/10.1109/sice.2002.1195736 schema:sameAs https://app.dimensions.ai/details/publication/pub.1095668743
    133 rdf:type schema:CreativeWork
    134 https://www.grid.ac/institutes/grid.412339.e schema:alternateName Saga University
    135 schema:name Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, 1-Honjomachi, 840-8502, Saga, Japan
    136 rdf:type schema:Organization
     




    Preview window. Press ESC to close (or click here)


    ...