Paper Info
Title
Fuzzy Switching Control of Underactuated Manipulators with Approximated Switching Regions
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
Year
DOI
Venue
2006
10.1109/IROS.2006.282479
Beijing
Keywords
Field
DocType
fuzzy control,manipulators,time-varying systems,fuzzy energy regions,fuzzy switching control,logic-based approach,switching regions,underactuated manipulators,Fuzzy energy regions,Switching control,Underactuated manipulators
Control theory,Computer science,Fuzzy logic,Control engineering,Fuzzy control system,Underactuation
Conference
ISBN
Citations 
PageRank 
1-4244-0259-X
2
0.37
References 
Authors
9
4
Name
Order
Citations
PageRank
Keisuke Ichida120.37
Keigo Watanabe2292.89
Kiyotaka Izumi322552.60
Nobuhiro Uchida430.75