基于遗传算法的欠驱动机械臂优化控制研究

Optimal Control of an Underactuated Manipulator System Based on Genetic Algorithm

欠驱动系统是一类控制器少于系统自由度的二阶非完整系统。提出一种基于遗传算法优化的摇起控制器设计。该控制器主要用于控制Acrobot系统的摇起运动。首先运用部分反馈线性化的状态反馈控制设计摇起控制器,然后利用遗传算法对摇起控制器的三个参数进行在线自调整优化,以确保Acrobot摇起的动态性能达到最优化,为平滑而稳定地切换到平衡控制器提供保障。计算机仿真结果显示,该方法能大大缩短系统摇起到进入平衡状态的时间,并具有良好的动态性能。

Underactuated systems are second nonholonomic systems with fewer actuators than degrees of freedom.The swing up controller for Acrobot is proposed based on the genetic algorithm optimization.First,the swing up controller is designed by using the state feedback control of partial feedback linearization.Then the genetic algorithm is utilized to find an optimal value of the swing up controller parameters,and the controller is properly transformed by using switching.The results of computer simulation show that the proposed method has a good control ability to shorten a time ,and more excellent control performance.