Monotonic decreasing energy and switching control for underactuated manipulators

Kiyotaka Izumi, Keisuke Ichida, Keigo Watanabe, Yuichi Kamada

Research output: Chapter in Book/Report/Conference proceedingChapter


The fuzzy-energy regions based switching method was proposed to control underactuated systems. The switching rule of this method was designed on error energy region with some boundary curves described by fuzzy rules. This method was validated by some simulations. The number of switching times for partly stable controllers increased according to initial conditions and design parameters. This paper discusses about the novel energy definition and the switching rules with the defined energy, in order to decrease the number of switching times. The effectiveness of the present approach energy is verified through some simulations for a 2-link underactuated manipulator.

Original languageEnglish
Title of host publicationIntelligent Unmanned Systems
Subtitle of host publicationTheory and Applications
EditorsAngus Budiyono, Bambang Riyanto, Endra Joelianto
Number of pages8
Publication statusPublished - Mar 19 2009
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
ISSN (Print)1860-949X

ASJC Scopus subject areas

  • Artificial Intelligence


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