Title :
Energy region design using projection for three-link underactuated manipulators
Author :
Ichida, Keisuke ; Izumi, Kiyotaka ; Watanabe, Keigo
Author_Institution :
Saga Univ., Saga
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;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421386
