A switching control of underactuated manipulators by introducing a definition of monotonically decreasing energy

Kiyotaka Izumi, Yuichi Kamada, Keisuke Ichida, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A fuzzy-energy regions based switching method has been studied to control underactuated manipulators. The switching rule of this method was designed on sub-energy regions with several boundary curves represented by fuzzy reasoning. However, it was pointed out, through some simulations, that the number of switching times for partially stable controllers increased according to the initial conditions and design parameters. The present paper introduces a novel energy definition in the sense of monotonic decreasing and develops the corresponding switching rules with such energy, to reduce the number of switching times. The effectiveness of the proposed approach is verified through some simulations for a 2-link underactuated manipulator.

Original languageEnglish
Title of host publicationProceedings - IEEE INDIN 2008
Subtitle of host publication6th IEEE International Conference on Industrial Informatics
Pages383-388
Number of pages6
DOIs
Publication statusPublished - Oct 31 2008
Externally publishedYes
EventIEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics - Daejeon, Korea, Republic of
Duration: Jul 13 2008Jul 16 2008

Publication series

NameIEEE International Conference on Industrial Informatics (INDIN)
ISSN (Print)1935-4576

Other

OtherIEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics
CountryKorea, Republic of
CityDaejeon
Period7/13/087/16/08

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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    Izumi, K., Kamada, Y., Ichida, K., & Watanabe, K. (2008). A switching control of underactuated manipulators by introducing a definition of monotonically decreasing energy. In Proceedings - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics (pp. 383-388). [4618129] (IEEE International Conference on Industrial Informatics (INDIN)). https://doi.org/10.1109/INDIN.2008.4618129