Studies on fuzzy controls for manipulators using the switching motion

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Title: Studies on fuzzy controls for manipulators using the switching motion

博士論文

論文目録 / (0001.jp2)
論文内容要旨 / (0003.jp2)
Contents / (0007.jp2)
Chapter 1 Introduction / p1 (0008.jp2)
Chapter 2 Fuzzy Control by the Switching Motion of Brakes / p6 (0011.jp2)
2-1 Introduction / p6 (0011.jp2)
2-2 Description of the Problem / p6 (0011.jp2)
2-3 Controllability of the System / p8 (0012.jp2)
2-4 Relation between the Initial Velocity and Joint Angles / p10 (0013.jp2)
2-5 Control Technique by the Switching Motion / p13 (0014.jp2)
2-6 Control Using the Fuzzy Inference / p14 (0015.jp2)
2-7 Digital Simulation / p22 (0019.jp2)
2-8 Conclusion / p28 (0022.jp2)
Chapter 3 Fuzzy Control Using the Excitation Torque by an Actuator and Multi-Brakes / p29 (0022.jp2)
3-1 Introduction / p29 (0022.jp2)
3-2 Oscillation and Reduction of Disturbance / p29 (0022.jp2)
3-3 Trajectory Control / p35 (0025.jp2)
3-4 Braking Control by Using Fuzzy Inference / p36 (0026.jp2)
3-5 Simulation Results / p38 (0027.jp2)
3-6 Conclusion / p43 (0029.jp2)
Chapter 4 Fuzzy Control Using the Concept of Sliding Mode / p44 (0030.jp2)
4-1 Introduction / p44 (0030.jp2)
4-2 Manipulator and Fuzzy Control / p44 (0030.jp2)
4-3 Tuning of the Fuzzy Rules Using the Concept of Sliding Mode / p47 (0031.jp2)
4-4 Numerical Examples / p55 (0035.jp2)
4-5 Conclusion / p63 (0039.jp2)
Chapter 5 Conclusions / p64 (0040.jp2)
References / p66 (0041.jp2)
Acknowledgment / p70 (0043.jp2)

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