Dynamics and GA-Based Stable Control for a Class of Underactuated Mechanical Systems

  title={Dynamics and GA-Based Stable Control for a Class of Underactuated Mechanical Systems},
  author={Diantong Liu and Weiping Guo and Jianqiang Yi},
The control of underactuated mechanical system is very complex for the loss of its control inputs. The model of underactuated mechanical systems in a potential field is built with Lagrangian method and its structural properties are analyzed in detail. A genetic algorithm (GA)based stable control approach is proposed for the class of underactuated mechanical systems. The Lyapunov stability theory and system properties are utilized to guarantee the system stability to its equilibrium. The real… CONTINUE READING
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