2A1-H15 Design of Energy Regions in a Switching Control Method for Three-Link Underactuated Manipulators

Abstract

This paper describes a control method for an underactuated manipulator. An underactuated manipulator has a passive joint instead of an actuator. As a result, the lightening, the energy saving, and the reduction in costs can be expected though it is necessary to control joints more than the number of actuators, and the control law becomes complex. The present main issue is to apply a fuzzy energy region based switching method for controlling a three-link underactuated manipulator, where we discuss how to assign some partly stabilizing controllers to each sub-energy region and consider the design of sub-energy regions.