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 publicationIEEE International Conference on Industrial Informatics (INDIN)
Pages383-388
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
EventIEEE INDIN 2008: 6th IEEE International Conference on Industrial Informatics - Daejeon, Korea, Republic of
Duration: Jul 13 2008Jul 16 2008

Other

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

Fingerprint

Manipulators
Controllers

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

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 IEEE International Conference on Industrial Informatics (INDIN) (pp. 383-388). [4618129] 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; Watanabe, Keigo.

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 IEEE International Conference on Industrial Informatics (INDIN)., 4618129, 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 IEEE International Conference on Industrial Informatics (INDIN). 2008. p. 383-388. 4618129 https://doi.org/10.1109/INDIN.2008.4618129
Izumi, Kiyotaka ; Kamada, Yuichi ; Ichida, Keisuke ; Watanabe, Keigo. / A switching control of underactuated manipulators by introducing a definition of monotonically decreasing energy. IEEE International Conference on Industrial Informatics (INDIN). 2008. pp. 383-388
@inproceedings{24006f32e3f1486faa96f76a3164ef47,
title = "A switching control of underactuated manipulators by introducing a definition of monotonically decreasing energy",
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.",
author = "Kiyotaka Izumi and Yuichi Kamada and Keisuke Ichida and Keigo Watanabe",
year = "2008",
doi = "10.1109/INDIN.2008.4618129",
language = "English",
isbn = "9781424421718",
pages = "383--388",
booktitle = "IEEE International Conference on Industrial Informatics (INDIN)",

}

TY - GEN

T1 - A switching control of underactuated manipulators by introducing a definition of monotonically decreasing energy

AU - Izumi, Kiyotaka

AU - Kamada, Yuichi

AU - Ichida, Keisuke

AU - Watanabe, Keigo

PY - 2008

Y1 - 2008

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=54849424123&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=54849424123&partnerID=8YFLogxK

U2 - 10.1109/INDIN.2008.4618129

DO - 10.1109/INDIN.2008.4618129

M3 - Conference contribution

SN - 9781424421718

SP - 383

EP - 388

BT - IEEE International Conference on Industrial Informatics (INDIN)

ER -