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Dynamics and GA-based stable control for a class of underactuated mechanical systems
Liu, Diantong1; Guo, Weiping1; Yi, Jianqiang2
2008-02-01
发表期刊INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
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
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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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