Genetic algorithms control for an underactuated system

Faical Mnif, Jawhar Ghommem

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

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.

Original languageEnglish
Title of host publicationComputational Methods in Circuits and Systems Applications
PublisherWorld Scientific and Engineering Academy and Society
Pages157-165
Number of pages9
ISBN (Print)9608052882
Publication statusPublished - 2003

Fingerprint

Genetic algorithms
Controllers
Pendulums
Stabilization
Feedback linearization
State feedback
Robots

Keywords

  • Genetic algorithms
  • Underactuated systems
  • Whiling pendulum

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Mnif, F., & Ghommem, J. (2003). Genetic algorithms control for an underactuated system. In Computational Methods in Circuits and Systems Applications (pp. 157-165). World Scientific and Engineering Academy and Society.

Genetic algorithms control for an underactuated system. / Mnif, Faical; Ghommem, Jawhar.

Computational Methods in Circuits and Systems Applications. World Scientific and Engineering Academy and Society, 2003. p. 157-165.

Research output: Chapter in Book/Report/Conference proceedingChapter

Mnif, F & Ghommem, J 2003, Genetic algorithms control for an underactuated system. in Computational Methods in Circuits and Systems Applications. World Scientific and Engineering Academy and Society, pp. 157-165.
Mnif F, Ghommem J. Genetic algorithms control for an underactuated system. In Computational Methods in Circuits and Systems Applications. World Scientific and Engineering Academy and Society. 2003. p. 157-165
Mnif, Faical ; Ghommem, Jawhar. / Genetic algorithms control for an underactuated system. Computational Methods in Circuits and Systems Applications. World Scientific and Engineering Academy and Society, 2003. pp. 157-165
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