Application in the Acrobot Systems of BPNN Based on Particle Swarm Optimization

Underactuated systems are the nonholonomic systems with fewer actuators than degrees of freedom. An equilibrium control strategy of BP network work and particle swarm optimization is presented in this paper, which is optimized online to obtain the parameter optimal values of equilibrium controller. The simulation results show that the proposed method can reduce the overshoot of system effective, shorten the period of the Acrobot from swing up to equilibrium state, and has the virtues of easily realization and small calculated amount.