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

Kiyotaka Izumi; Yuichi Kamada; Keisuke Ichida; Keigo Watanabe

doi:10.1109/INDIN.2008.4618129

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 proceeding › Conference contribution

6 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 language	English
Title of host publication	Proceedings - IEEE INDIN 2008
Subtitle of host publication	6th IEEE International Conference on Industrial Informatics
Pages	383-388
Number of pages	6
DOIs	https://doi.org/10.1109/INDIN.2008.4618129
Publication status	Published - Oct 31 2008
Externally published	Yes
Event	IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics - Daejeon, Korea, Republic of Duration: Jul 13 2008 → Jul 16 2008

Publication series

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

Other

Other	IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics
Country/Territory	Korea, Republic of
City	Daejeon
Period	7/13/08 → 7/16/08

ASJC Scopus subject areas

Computer Science Applications
Information Systems

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10.1109/INDIN.2008.4618129

Cite this

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

A switching control of underactuated manipulators by introducing a definition of monotonically decreasing energy. / Izumi, Kiyotaka; Kamada, Yuichi; Ichida, Keisuke et al.

Proceedings - IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics. 2008. p. 383-388 4618129 (IEEE International Conference on Industrial Informatics (INDIN)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4618129, IEEE International Conference on Industrial Informatics (INDIN), pp. 383-388, IEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics, Daejeon, Korea, Republic of, 7/13/08. https://doi.org/10.1109/INDIN.2008.4618129

Izumi K, Kamada Y, Ichida K, Watanabe K. 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. 2008. p. 383-388. 4618129. (IEEE International Conference on Industrial Informatics (INDIN)). doi: 10.1109/INDIN.2008.4618129

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

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