Fuzzy Control for Underactuated Manipulator

Qi Xiao Xia; Yue Qing Yu; Qing Bo Liu

doi:10.4028/www.scientific.net/AMM.397-400.1490

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 397-400Fuzzy Control for Underactuated Manipulator

Fuzzy Control for Underactuated Manipulator

Abstract:

Control of an underactuated manipulator by fuzzy control method is investigated in this paper. The joint angular errors are directly feedbacked to the inputs of the fuzzy system. The MIMO fuzzy controller is decoupled into sub SISO systems for simplification of the design of the system. Numerical simulation for the position control of a planar was presented for verification of the proposed method.

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Periodical:

Applied Mechanics and Materials (Volumes 397-400)

Pages:

1490-1493

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.397-400.1490

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Online since:

September 2013

Authors:

Qi Xiao Xia*, Yue Qing Yu, Qing Bo Liu

Keywords:

Fuzzy Logic Control, Manipulator, Position Control, Underactuated

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