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Proceedings Paper

GA-based stable control for a class of underactuated mechanical systems
Author(s): Diantong Liu; Weiping Guo; Jianqiang Yi
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Paper Abstract

A nonlinear dynamic model of a class of underactuated mechanical systems was built using the Lagrangian method. Some system properties such as the system passivity were analyzed. A GA(Genetic Algorithms)-based stable control algorithm was proposed for the class of underactuated mechanical systems. The Lyapunov stability theory and system properties were utilized to guarantee the system's asymptotic stability to its equilibrium. A real-valued GA was used to adjust the parameters of a stable controller to improve the system performance. An underactuated double-pendulum-type overhead crane system is used to validate the proposed control algorithm. Simulation results illustrate the validity of proposed control algorithm under different conditions.

Paper Details

Date Published: 2 May 2006
PDF: 6 pages
Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 60420D (2 May 2006); doi: 10.1117/12.664527
Show Author Affiliations
Diantong Liu, Yantai Univ. (China)
Weiping Guo, Yantai Univ. (China)
Jianqiang Yi, Institute of Automation, CAS (China)


Published in SPIE Proceedings Vol. 6042:
ICMIT 2005: Control Systems and Robotics
Yunlong Wei; Kil To Chong; Takayuki Takahashi; Shengping Liu; Zushu Li; Zhongwei Jiang; Jin Young Choi, Editor(s)

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