Control Domain Design of Planar Three-Link Underactuated Manipulators Using Fuzzy Logic Systems : Characteristic Investigation about Design Parameters

Abstract

Underactuated manipulators consist of some passive joints which equipped with nor actuators or holding brakes. Because the number of actuators is less than the number of degrees of freedom, they are expected to reduce the weight, compactness, energy consumption, and cost of the controlled object. However, they require the control of many generalized coordinates with limited inputs. Therefore, this system has complex structural properties. In this paper, we implement a fuzzy inference system in MATLAB/Simulink and simulate of a planar three-link underactuated manipulator using the fuzzy energy region switching method. Also, we aim to optimize the gain parameters of the partial stabilization controller and the design parameters related to the energy region. The effectiveness of this method is demonstrated with some simulations.