GA-based control to swing up an acrobot with limited torque

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	GA-based control to swing up an acrobot with limited torque
	Zhao, DB; Yi, JQ
发表期刊	TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
	2006
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：6[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.

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