International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dynamics and GA-Based Stable Control for a Class of Underactuated Mechanical Systems

  • Liu, Diantong (Institute of Computer Science and Technology, Yantai University) ;
  • Guo, Weiping (Institute of Computer Science and Technology, Yantai University) ;
  • Yi, Jianqiang (Key Laboratory of Complex System and Intelligence Science, Institute of Automation, Chinese Academy of Sciences)
  • Published : 2008.02.28
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Abstract

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 under actuated 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.

Keywords

References

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