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