کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6856268 1437951 2018 15 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A quick position control strategy based on optimization algorithm for a class of first-order nonholonomic system
ترجمه فارسی عنوان
یک راهبرد کنترل موقعیت سریع براساس الگوریتم بهینه سازی برای یک کلاس از سیستم غیرخانوادگی مرتبه اول
کلمات کلیدی
سیستم غیرخولومونی درجه اول، سیستم کنترل نشده محدودیت زاویه ای، کنترل موقعیت روش کنترل مداوم،
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
چکیده انگلیسی
In this paper, we develop a quick and effective position control strategy based on the differential evolution (DE) algorithm for a planar three-link passive-active-active (PAA) underactuated system with first-order nonholonomic constraint. Due to the existence of the constraint, when the angular velocities of the two active links are proportional, the planar PAA system is transformed from a first-order nonholonomic system to a holonomic system like an Acrobot. Making full use of the angular constraint of the like-Acrobot, we employ the DE algorithm to calculate the target angles of all links and the target ratio between the angular velocities of the two active links. After that, one continuous controller for one active link is designed to ensure the target ratio in the whole control process; meantime, the other continuous controller for the other active link is designed to make its angle asymptotically converge to the corresponding target value. In this way, the angles of all links can asymptotically converge to the corresponding target values according to the angular constraint, and thus the position control of the system is realized using the continuous control method. Finally, the simulation results demonstrate the quickness and effectiveness of our proposed control method.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Information Sciences - Volumes 460–461, September 2018, Pages 264-278
نویسندگان
, , , , ,