Genetic Algorithm Implementation for Optimizing Linear Quadratic Algorithm to Control Acrobot Robotic System

Robotica & Management

Van Dong Hai Nguyen¹  Hoang Chinh Tran¹  Vi Do Tran¹  Thi Thanh Hoang Le¹  Minh Tam Nguyen¹ 

[1] Ho Chi Minh City University of Technology and Education;

关键词: Acrobot;    actuators;    degrees of freedom;    upright position;    linear quadratic regulator;    genetic algorithm;   

DOI  :  

来源: DOAJ

【 摘 要 】

Acrobot is a robotic system with some under actuated degree. In order to control Acrobot at the upright position, designers have to create appropriate algorithms. In this paper, authors propose Linear Quadratic Regulator (LQR) algorithm for controlling over the plant. Through dynamic equation analysis of Acrobot Robotic System, linearization is used for around balance point. Besides, authors also apply the genetic algorithm to optimize LQR. Results from the simulation are shown on Matlab/Simulink Tool. LQR controller can control the plant which holds on balance state when system is transient a few seconds.

【 授权许可】

Unknown