Knowledge Commons of Institute of Automation，CAS
| Dynamics and GA-based stable control for a class of underactuated mechanical systems | |
Liu, Diantong1; Guo, Weiping1; Yi, Jianqiang2
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| 发表期刊 | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
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| 2008-02-01 | |
| 卷号 | 6期号:1页码:35-43 |
| 文章类型 | Article |
| 摘要 | 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 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. |
| 关键词 | Ga Overhead Crane Stable Control System Dynamics Underactuated Mechanical Systems |
| WOS标题词 | Science & Technology ; Technology |
| 关键词[WOS] | OVERHEAD CRANE |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS研究方向 | Automation & Control Systems |
| WOS类目 | Automation & Control Systems |
| WOS记录号 | WOS:000252749700004 |
| 引用统计 | |
| 文献类型 | 期刊论文 |
| 条目标识符 | http://ir.ia.ac.cn/handle/173211/9549 |
| 专题 | 09年以前成果 |
| 通讯作者 | Liu, Diantong |
| 作者单位 | 1.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 |
| 推荐引用方式 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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| 2008 IJCAS - Dynamic（487KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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