论文信息 - Balance control for an acrobot

Balance control for an acrobot

A balancing controller using LQR approach and GA method is designed for three-link acrobot. The three-link acrobot we studied is not actuated by torque but acceleration, which has more significant than the common one. We establish the model of the acrobot, which consists of two parts: actuation model and dynamic model. Using LQR method, a balancing controller is designed for the model. And genetic algorithms method is used to improve the performance of it. Simulation results show the feasibility and effectiveness of the controller.

Fangzheng Xue | Zhicheng Hou | Hangjian Deng

[1] Jianqiang Yi,et al. A Particle Swarm Optimized Fuzzy Neural Network Control for Acrobot , 2006, ISNN.

[2] Masahiro Kaneda,et al. The posture control of a two-link free flying acrobot with initial angular momentum , 2004, IEEE Transactions on Automatic Control.

[3] Kevin M. Passino,et al. c ○ 1997 Kluwer Academic Publishers. Printed in the Netherlands. Intelligent Control for an Acrobot , 1996 .

[4] Simon X. Yang,et al. Control of acrobot based on non-smooth Lyapunov function and comprehensive stability analysis , 2008 .

[5] Jun Li,et al. A novel approach to modeling and identifying the double loop DC motor driving system in soccer robots , 2007, ICMIT: Mechatronics and Information Technology.

[6] A. Karamancioglu,et al. Robust stabilization of acrobot by using its real structured uncertainty model , 2005, Proceedings of 2nd International Conference on Recent Advances in Space Technologies, 2005. RAST 2005..

[7] Mark W. Spong,et al. The swing up control problem for the Acrobot , 1995 .