@inbook{451098ce4cd648dda8829baf80097011,
title = "Monotonic decreasing energy and switching control for underactuated manipulators",
abstract = "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.",
author = "Kiyotaka Izumi and Keisuke Ichida and Keigo Watanabe and Yuichi Kamada",
year = "2009",
month = mar,
day = "19",
doi = "10.1007/978-3-642-00264-9_13",
language = "English",
isbn = "9783642002632",
series = "Studies in Computational Intelligence",
pages = "205--212",
editor = "Angus Budiyono and Bambang Riyanto and Endra Joelianto",
booktitle = "Intelligent Unmanned Systems",
}