CASIA OpenIR  > 09年以前成果
GA-based control to swing up an acrobot with limited torque
Zhao, DB; Yi, JQ
2006
发表期刊TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
卷号28期号:1页码:3-13
文章类型Article
摘要To 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.
关键词Acrobot Fuzzy Neural Network Genetic Algorithm
WOS标题词Science & Technology ; Technology
关键词[WOS]PENDUBOT
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Instruments & Instrumentation
WOS记录号WOS:000236541700002
引用统计
被引频次:3[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9320
专题09年以前成果
作者单位Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence, Beijing 100080, Peoples R China
推荐引用方式
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.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
2006 TMC - GA-based (110KB)期刊论文作者接受稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Zhao, DB]的文章
[Yi, JQ]的文章
百度学术
百度学术中相似的文章
[Zhao, DB]的文章
[Yi, JQ]的文章
必应学术
必应学术中相似的文章
[Zhao, DB]的文章
[Yi, JQ]的文章
相关权益政策
暂无数据
收藏/分享
文件名: 2006 TMC - GA-based Control to Swing up an Acrobat with Limited Torque.PDF
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。