DocumentCode
2643326
Title
Energy region design using projection for three-link underactuated manipulators
Author
Ichida, Keisuke ; Izumi, Kiyotaka ; Watanabe, Keigo
Author_Institution
Saga Univ., Saga
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
2379
Lastpage
2384
Abstract
We recently developed a fuzzy energy region method for the switching control of underactuated manipulators. The similar switching method is here applied for a three-link underactuated manipulator, and we investigate on the combination in 2D plane of energies defined for each link, i.e., the projection configuration of energies. The effectiveness of the present method is illustrated with some simulations.
Keywords
fuzzy set theory; manipulators; time-varying systems; energy region design; fuzzy energy region method; switching control; three-link underactuated manipulators; Actuators; Control engineering; Control systems; Design engineering; Fuzzy control; Fuzzy systems; Manipulator dynamics; Nonlinear control systems; Power engineering and energy; Torque control; Computed torque switching control; Fuzzy switching method; Nonholonomic system; Nonlinear control; Underactuated manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421386
Filename
4421386
Link To Document