DocumentCode
3172864
Title
Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions
Author
Ichida, Keisuke ; Watanabe, Keigo ; Izumi, Kiyotaka ; Uchida, Nobuhiro
Author_Institution
Dept. of Adv. Syst. Control Eng., Saga Univ.
fYear
2006
fDate
Oct. 2006
Firstpage
586
Lastpage
591
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 nonholonomic 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
Keywords
fuzzy control; manipulators; time-varying systems; fuzzy energy regions; fuzzy switching control; logic-based approach; switching regions; underactuated manipulators; Actuators; Control engineering; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; Intelligent robots; Manipulator dynamics; Torque control; Weight control; Fuzzy energy regions; Switching control; Underactuated manipulators;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location
Beijing
Print_ISBN
1-4244-0259-X
Electronic_ISBN
1-4244-0259-X
Type
conf
DOI
10.1109/IROS.2006.282479
Filename
4058416
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