Creating swing-up patterns of an acrobot using evolutionary computation

被引：4

作者：

Kawada, K ^{[1
]}

Obika, M ^{[1
]}

Fujisawa, S ^{[1
]}

Yamamoto, T ^{[1
]}

机构：

[1] Takamatsu Natl Coll Technol, Takamatsu, Kagawa 7618058, Japan

来源：

2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS | 2005年

关键词：

genetic algorithm; acrobot; swing-up; evolutionary computation; motion pattern;

D O I：

10.1109/CIRA.2005.1554287

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In recent years, the various controller design schemes have been examined for nonlinear mechanical systems with uncertainties. As one of such mechanical systems, acrobots attract attention in last decade, which belong to nonholonomic systems. Several controller design schemes have been proposed for the acrobots. In this paper, a new approach to control the acrobot is considered, in which a suitable swing-up pattern is created using the real-coded genetic algorithm(GA). Then, the energy and the extra motion which are totally consumed in the swing-up motion, are evaluated on the fitness function. The effectiveness of the newly proposed scheme is numerically verified on some simulation results.

引用

页码：261 / 266

页数：6

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