TY - GEN
T1 - Fuzzy switching control of underactuated manipulators with approximated switching regions
AU - Ichida, Keisuke
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
AU - Uchida, Nobuhiro
PY - 2006/12/1
Y1 - 2006/12/1
N2 - 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 noholonomic 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.
AB - 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 noholonomic 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.
KW - Fuzzy energy regions
KW - Switching control
KW - Underactuated manipulators
UR - http://www.scopus.com/inward/record.url?scp=34250684160&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=34250684160&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282479
DO - 10.1109/IROS.2006.282479
M3 - Conference contribution
AN - SCOPUS:34250684160
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 586
EP - 591
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -