Identification and Control of an Implemented Acrobot System

Journal of Intelligent Procedures in Electrical Technology

Abbas Harifi¹  Amir Zare Shahri²  Hasan Seidi³ 

[1] Hormozgan University;Islamic Azad University, Hormozgan Science and Research Branch;Islamic Azad University, Takestan Branch;

关键词: Acrobot;    identification;    Genetic Algorithm;    underactuated;    linear quadratic regulator;   

DOI  :  

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown