Genetic algorithms control for an underactuated system

The whiling pendulum is a spatial robot with two degrees of freedom and a single control input. The goal is to develop a controller that can balance the pendulum in the inverted unstable equilibrium position. In this paper we develop an intelligent controller on the basis of Genetic Algorithms for the stabilization of this 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 are given to illustrate our approach.