Switching Control with Fuzzy-Energy Regions and Its Energy Definition

Abstract

The fuzzy-energy regions based switching method was proposed to control underactuated systems. The switching rule of this method was designed on error energy region with some boundary curves described by fuzzy rules. This method was validated by some simulations. The number of switching times for partially stable controllers increased according to initial conditions and design parameters. This paper discusses about the novel energy definition and the switching rules with the defined energy, in order to decrease the number of switching times. The effectiveness of the present approach energy is verified through some simulations for a 2-link underactuated manipulator.