Dynamics and GA-based stable control for a class of underactuated mechanical systems

被引：0
|
作者：
Liu, Diantong [1 ]
Guo, Weiping [1 ]
Yi, Jianqiang [2 ]
机构：
[1] Yantai Univ, Inst Comp Sci & Technol, Shandong 264005, Peoples R China
[2] Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100081, Peoples R China
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2008年 / 6卷 / 01期
关键词：
GA; overhead crane; stable control; system dynamics; underactuated mechanical systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The control of underactuated mechanical system is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A genetic algorithm (GA)-based stable control approach is proposed for the class of underactuated mechanical systems. The Lyapunov stability theory and system properties are utilized to guarantee the system stability to its equilibrium. The real-valued GA is used to adjust the controller parameters to improve the system performance. This approach is applied to the underactuated double-pendulum-type overhead crane and the simulation results illustrate the complex system dynamics and the validity of the proposed control algorithm.
引用
收藏
页码：35 / 43
页数：9
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