Identification and Control of an Implemented Acrobot System

Autor:	Abbas Harifi, Hasan Seidi, Amir Zare Shahri
Jazyk:	English<br />Persian
Rok vydání:	2013
Předmět:	Acrobot identification Genetic Algorithm underactuated linear quadratic regulator Electrical engineering. Electronics. Nuclear engineering TK1-9971
Zdroj:	Journal of Intelligent Procedures in Electrical Technology, Vol 4, Iss 13, Pp 15-22 (2013)
Druh dokumentu:	article
ISSN:	2322-3871 2345-5594
Popis:	The main goal of this paper is to identify the parameters of an Acrobot system and to design a suitable controller for it. So, the parameters of nonlinear model were identified in four steps using Genetic Algorithm. Then, a new swing-up algorithm was proposed. Also, after linearization of dynamics, an optimal state feedback controller was designed to balance the Acrobot links. Since, the controller was acted well only near unstable equilibrium point, another state feedback controller was designed by Genetic Algorithm for the farther points. Simulation results show the suitable performance of the proposed methods.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/b6aba4b2b6fb470e92ea6e4aed497a3a Zobrazit plný text záznamu View record in DOAJ