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This paper presents an intelligent control method for the Acrobot with applications of neural network (NN) and genetic algorithm (GA). A switch controller is proposed where a neurocontroller (NC) optimized by GA is used for the swing-up stage and a linear quadratic regulator (LQR) is applied to the balancing stage. In order to analyze the characteristics of(More)
We present a control method for a 3-DOF acrobot which is a model of a gymnast on a horizontal bar with three links, two active joints, and a passive joint. This robot is a nonholonomic and underactuated system. We propose two control methods for the 3-DOF acrobot. First, swing-up control is performed by genetic programming (GP), and stabilizing control is(More)
This article considers intelligent control for a class of nonholonomic systems using a neurocontroller (NC) and a genetic algorithm (GA). First, we introduce the design of the NC with use of the GA, and then we apply the NC to control two typical examples of nonholonomic systems: a hopping robot in the flight phase and a four-wheel vehicle. In order to(More)
This paper considers stabilization of linear time-varying descriptor systems with continuous and bounded coefficient matrices. First, a necessary and sufficient condition for exponential stability is presented as solvability of a linear matrix differential inequality. Then, the stability condition is utilized to derive a feedback control law for(More)
This article presents a hybrid evolutionary algorithm (HEA) based on particle swarm optimization (PSO) and a real-coded genetic algorithm (GA). In the HEA, PSO is used to update the solution, and a genetic recombination operator is added to produce offspring individuals based on the parents, which are selected in proportion to their relative fitness.(More)
The purpose of this paper is to derive conditions for absolute stability as well as existence of solutions for multivariable Lur’e-type feedback systems whose linear part is expressed by a descriptor system. The nonlinearities are uncertain and satisfy multivariable sector conditions, or a part of the nonlinearities satisfies a norm bounded condition. Thus,(More)
Recently, computational intelligence has been applied extensively in control engineering, especially for systems that cannot easily be controlled by conventional means. In this article, attention is paid to the control of a three-DOF planar underactuated manipulator, also known as the three-link gymnastic robot, by utilizing a neural network (NN) and a(More)
This paper is concerned with the control of a rotary crane system which is perturbed by a strong and sudden disturbance. Since the payload of the crane system is affected strongly by inertia, it is hardly stabilized quickly, particularly when there exists disturbance. An adaptive adjustment of the controller against the disturbance is thus needed to(More)
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