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Dynamics and GA-based stable control for a class of underactuated mechanical systems
Liu, Diantong1; Guo, Weiping1; Yi, Jianqiang2
Source PublicationINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
2008-02-01
Volume6Issue:1Pages:35-43
SubtypeArticle
AbstractThe 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.
KeywordGa Overhead Crane Stable Control System Dynamics Underactuated Mechanical Systems
WOS HeadingsScience & Technology ; Technology
WOS KeywordOVERHEAD CRANE
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems
WOS SubjectAutomation & Control Systems
WOS IDWOS:000252749700004
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9549
Collection09年以前成果
Corresponding AuthorLiu, Diantong
Affiliation1.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
Recommended Citation
GB/T 7714
Liu, Diantong,Guo, Weiping,Yi, Jianqiang. Dynamics and GA-based stable control for a class of underactuated mechanical systems[J]. INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,2008,6(1):35-43.
APA Liu, Diantong,Guo, Weiping,&Yi, Jianqiang.(2008).Dynamics and GA-based stable control for a class of underactuated mechanical systems.INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS,6(1),35-43.
MLA Liu, Diantong,et al."Dynamics and GA-based stable control for a class of underactuated mechanical systems".INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 6.1(2008):35-43.
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