Genetic Algorithms Adaptive Control for an Underactuated System
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چکیده
In this paper we develop an intelligent controller on the basis of Genetic Algorithms for the stabilization of a class of Underactuated Mechanical Systems. First we develop a static State Feedback Controller with inner noncollocated partial feedback linearization loop to stabilize the nominal system. Second, we develop a Genetic algorithm controller to maintain system stabilization and to adapt the controller variables to the changes of system parameters. Simulations results made on a 2-DOF whirling pendulum are given to illustrate our approach. Copyright c © 2003-2005 Yang’s Scientific Research Institute, LLC. All rights reserved.
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تاریخ انتشار 2003