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GA-based control to swing up an acrobot with limited torque
Zhao, DB; Yi, JQ
Source PublicationTRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
2006
Volume28Issue:1Pages:3-13
SubtypeArticle
AbstractTo swing up art acrobot, a two-link under-actuated robotic system, a fuzzy neural network (FNN) controller with limited torque based on genetic algorithm (GA) is presented and tested. The acrobot is composed of two links rotating in a same plane around two joints, only the second of which is actuated. The upswing process is a complex problem to rotate the two links from the low to the top balance position by single torque on the actuated joint. In a real application system, motor output is often limited. Therefore, an INN controller is proposed to generate limited torque on the actuated joint according to different states of the two links. The antecedents and consequences of the FNN controller are determined with an improved GA. Simulation results on the acrobot system verify the feasibility and generalization of the proposed GA-based FNN control scheme.
KeywordAcrobot Fuzzy Neural Network Genetic Algorithm
WOS HeadingsScience & Technology ; Technology
WOS KeywordPENDUBOT
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Instruments & Instrumentation
WOS IDWOS:000236541700002
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9320
Collection09年以前成果
AffiliationChinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Zhao, DB,Yi, JQ. GA-based control to swing up an acrobot with limited torque[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2006,28(1):3-13.
APA Zhao, DB,&Yi, JQ.(2006).GA-based control to swing up an acrobot with limited torque.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,28(1),3-13.
MLA Zhao, DB,et al."GA-based control to swing up an acrobot with limited torque".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 28.1(2006):3-13.
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