Abstract
We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 2379-2384 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2007 |
| Externally published | Yes |
| Event | SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan Duration: Sep 17 2007 → Sep 20 2007 |
Other
| Other | SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 |
|---|---|
| Country | Japan |
| City | Takamatsu |
| Period | 9/17/07 → 9/20/07 |
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Keywords
- Computed torque switching control
- Fuzzy switching method
- Nonholonomic system
- Nonlinear control
- Underactuated manipulator
ASJC Scopus subject areas
- Engineering(all)
Cite this
Energy region design using projection for three-link underactuated manipulators. / Ichida, Keisuke; Izumi, Kiyotaka; Watanabe, Keigo.
Proceedings of the SICE Annual Conference. 2007. p. 2379-2384 4421386.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Energy region design using projection for three-link underactuated manipulators
AU - Ichida, Keisuke
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
PY - 2007
Y1 - 2007
N2 - We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.
AB - We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.
KW - Computed torque switching control
KW - Fuzzy switching method
KW - Nonholonomic system
KW - Nonlinear control
KW - Underactuated manipulator
UR - http://www.scopus.com/inward/record.url?scp=50249154907&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=50249154907&partnerID=8YFLogxK
U2 - 10.1109/SICE.2007.4421386
DO - 10.1109/SICE.2007.4421386
M3 - Conference contribution
AN - SCOPUS:50249154907
SN - 4907764286
SN - 9784907764289
SP - 2379
EP - 2384
BT - Proceedings of the SICE Annual Conference
ER -