Fuzzy switching control of underactuated manipulators with approximated switching regions

Keisuke Ichida, Keigo Watanabe, Kiyotaka Izumi, Nobuhiro Uchida

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

6 Citations (Scopus)

Abstract

A switching control method based on fuzzy energy regions is proposed for controlling underactuated manipulators. We also consider the application of a logic-based approach, which was originally developed for a noholonomic system without drift terms, to the underactuated manipulators with drift terms as considered in this research. Then we compare a switching control method based on a logic method with that based on the present fuzzy energy regions. The effectiveness of both methods is demonstrated with some simulations.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages586-591
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period10/9/0610/15/06

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Manipulators

Keywords

  • Fuzzy energy regions
  • Switching control
  • Underactuated manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Ichida, K., Watanabe, K., Izumi, K., & Uchida, N. (2006). Fuzzy switching control of underactuated manipulators with approximated switching regions. In IEEE International Conference on Intelligent Robots and Systems (pp. 586-591). [4058416] https://doi.org/10.1109/IROS.2006.282479

Fuzzy switching control of underactuated manipulators with approximated switching regions. / Ichida, Keisuke; Watanabe, Keigo; Izumi, Kiyotaka; Uchida, Nobuhiro.

IEEE International Conference on Intelligent Robots and Systems. 2006. p. 586-591 4058416.

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

Ichida, K, Watanabe, K, Izumi, K & Uchida, N 2006, Fuzzy switching control of underactuated manipulators with approximated switching regions. in IEEE International Conference on Intelligent Robots and Systems., 4058416, pp. 586-591, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 10/9/06. https://doi.org/10.1109/IROS.2006.282479
Ichida K, Watanabe K, Izumi K, Uchida N. Fuzzy switching control of underactuated manipulators with approximated switching regions. In IEEE International Conference on Intelligent Robots and Systems. 2006. p. 586-591. 4058416 https://doi.org/10.1109/IROS.2006.282479
Ichida, Keisuke ; Watanabe, Keigo ; Izumi, Kiyotaka ; Uchida, Nobuhiro. / Fuzzy switching control of underactuated manipulators with approximated switching regions. IEEE International Conference on Intelligent Robots and Systems. 2006. pp. 586-591
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