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

8 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 publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages586-591
Number of pages6
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: Oct 9 2006Oct 15 2006

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

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

Keywords

  • Fuzzy energy regions
  • Switching control
  • Underactuated manipulators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

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