TY - GEN
T1 - Energy region design using projection for three-link underactuated manipulators
AU - Ichida, Keisuke
AU - Izumi, Kiyotaka
AU - Watanabe, Keigo
PY - 2007/12/1
Y1 - 2007/12/1
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
T3 - Proceedings of the SICE Annual Conference
SP - 2379
EP - 2384
BT - SICE Annual Conference, SICE 2007
T2 - SICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007
Y2 - 17 September 2007 through 20 September 2007
ER -