Energy region design using projection for three-link underactuated manipulators

Keisuke Ichida, Kiyotaka Izumi, Keigo Watanabe

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


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 languageEnglish
Title of host publicationSICE Annual Conference, SICE 2007
Number of pages6
Publication statusPublished - Dec 1 2007
Externally publishedYes
EventSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007 - Takamatsu, Japan
Duration: Sep 17 2007Sep 20 2007

Publication series

NameProceedings of the SICE Annual Conference


OtherSICE(Society of Instrument and Control Engineers)Annual Conference, SICE 2007


  • Computed torque switching control
  • Fuzzy switching method
  • Nonholonomic system
  • Nonlinear control
  • Underactuated manipulator

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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