書誌事項
- タイトル別名
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- Creating Swing-Up Patterns of an Acrobot Using Evolutionary Computation
- シンカテキ ケイサン オ モチイタ アクロボット ノ フリアゲ パターン セイセイ
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In recent years, the various controller design schemes have been examining for nonlinear systems with uncertainties. As one of such mechanical systems, an acrobot attract attention in last decade, which belongs to nonholonomic systems. Several controller design schemes have been proposed for the acrobot.<br>In this paper, a new approach to control the acrobot is considered, in which a suitable set of swing up pattern is created using the real-coded genetic algorithm(GA). The fitness function includes some terms, i.e., the time, the extra motion and the height in the inverted state. The effectiveness of the newly proposed scheme is numerically verifyed on some simulation results.
収録刊行物
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- 電気学会論文誌C(電子・情報・システム部門誌)
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電気学会論文誌C(電子・情報・システム部門誌) 125 (3), 457-462, 2005
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204605610368
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- NII論文ID
- 10014490352
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- NII書誌ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL書誌ID
- 7270285
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
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- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可