Current Research into Optimal Methods of Controller of Under-actuated System Pendubot

被引：0

作者：

Ge, Bin ^{[1
]}

Yu, Yang ^{[1
]}

Su, Xiaolu ^{[1
]}

机构：

[1] Dalian Univ Technol, Informat Proc Lab, Dalian 116622, Peoples R China

来源：

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年

关键词：

under-actuated system; pendubot; intelligent control; parameter optimization;

D O I：

10.1109/WCICA.2008.4593100

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The control of nonlinear underactuated manipulator system is a new focus topic in the intelligent control fields. Underactuated system is second order nonholonomic system with fewer actuators than degrees of freedom. This paper summarizes briefly the basic researching results on optimized design and parameters of swing-up controller and balancing controller of underactuated system pendubot based on fuzzy control, genetic algorithm and particle swam algorithm in the intelligent control theory for recent years. And the direction of further research of underactuated manipulator system is also presented.

引用

页码：1237 / 1240

页数：4