GA-based control to swing up an acrobot with limited torque
文献类型：期刊论文
| 作者 | Zhao, DB ; Yi, JQ
|
| 刊名 | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
 |
| 出版日期 | 2006 |
| 卷号 | 28期号:1页码:3-13 |
| 关键词 | acrobot fuzzy neural network genetic algorithm |
| 英文摘要 | To swing up art acrobot, a two-link under-actuated robotic system, a fuzzy neural network (FNN) controller with limited torque based on genetic algorithm (GA) is presented and tested. The acrobot is composed of two links rotating in a same plane around two joints, only the second of which is actuated. The upswing process is a complex problem to rotate the two links from the low to the top balance position by single torque on the actuated joint. In a real application system, motor output is often limited. Therefore, an INN controller is proposed to generate limited torque on the actuated joint according to different states of the two links. The antecedents and consequences of the FNN controller are determined with an improved GA. Simulation results on the acrobot system verify the feasibility and generalization of the proposed GA-based FNN control scheme. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Instruments & Instrumentation |
| 关键词[WOS] | PENDUBOT |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000236541700002 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9320]  |
| 专题 | 自动化研究所_09年以前成果 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence, Beijing 100080, Peoples R China |
| 推荐引用方式 GB/T 7714 | Zhao, DB,Yi, JQ. GA-based control to swing up an acrobot with limited torque[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2006,28(1):3-13. |
| APA | Zhao, DB,&Yi, JQ.(2006).GA-based control to swing up an acrobot with limited torque.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,28(1),3-13. |
| MLA | Zhao, DB,et al."GA-based control to swing up an acrobot with limited torque".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 28.1(2006):3-13. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。