GA-based stable control for a class of underactuated mechanical systems

摘要

A nonlinear dynamic model of a class of underactuated mechanical systems was built using the Lagrangian method. Some system properties such as the system passivity were analyzed. A GA(Genetic Algorithms)-based stable control algorithm was proposed for the class of underactuated mechanical systems. The Lyapunov stability theory and system properties were utilized to guarantee the system's asymptotic stability to its equilibrium. A real-valued GA was used to adjust the parameters of a stable controller to improve the system performance. An underactuated double-pendulum-type overhead crane system is used to validate the proposed control algorithm. Simulation results illustrate the validity of proposed control algorithm under different conditions.