Dynamics and GA-Based Stable Control for a Class of Underactuated Mechanical Systems
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 GAbased 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 stabilize 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.
Diantong Liu Weiping Guo
Institute of Computer Science and Technology Yantai University Shandong Province, 264005, P.R.China
国际会议
南宁
英文
2007-07-20（万方平台首次上网日期，不代表论文的发表时间）