Monotonic decreasing energy and switching control for underactuated manipulators

Kiyotaka Izumi; Keisuke Ichida; Keigo Watanabe; Yuichi Kamada

doi:10.1007/978-3-642-00264-9_13

Monotonic decreasing energy and switching control for underactuated manipulators

Kiyotaka Izumi, Keisuke Ichida, Keigo Watanabe, Yuichi Kamada

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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.

Original language	English
Title of host publication	Intelligent Unmanned Systems
Subtitle of host publication	Theory and Applications
Editors	Angus Budiyono, Bambang Riyanto, Endra Joelianto
Pages	205-212
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-642-00264-9_13
Publication status	Published - Mar 19 2009
Externally published	Yes

Publication series

Name	Studies in Computational Intelligence
Volume	192
ISSN (Print)	1860-949X

ASJC Scopus subject areas

Artificial Intelligence

Access to Document

10.1007/978-3-642-00264-9_13

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Izumi, K., Ichida, K., Watanabe, K., & Kamada, Y. (2009). Monotonic decreasing energy and switching control for underactuated manipulators. In A. Budiyono, B. Riyanto, & E. Joelianto (Eds.), Intelligent Unmanned Systems: Theory and Applications (pp. 205-212). (Studies in Computational Intelligence; Vol. 192). https://doi.org/10.1007/978-3-642-00264-9_13

Monotonic decreasing energy and switching control for underactuated manipulators. / Izumi, Kiyotaka; Ichida, Keisuke; Watanabe, Keigo; Kamada, Yuichi.

Intelligent Unmanned Systems: Theory and Applications. ed. / Angus Budiyono; Bambang Riyanto; Endra Joelianto. 2009. p. 205-212 (Studies in Computational Intelligence; Vol. 192).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

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