DocumentCode :
3041585
Title :
Genetic adaptive control for an inverted wedge
Author :
Moore, Mathew L. ; Musacchio, John T. ; Passino, Kevin M.
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
Volume :
1
fYear :
1999
fDate :
1999
Firstpage :
400
Abstract :
The inverted wedge is a planar robot with two degrees of freedom and a single control input (i.e., it is “underactuated”). The goal is to develop a digital controller that can balance the wedge in the inverted position by shifting a weight on the top of the wedge. Because it is underactuated and has complicated nonlinear dynamics, the inverted wedge is a good testbed for the development of nonconventional advanced control techniques and comparative analysis between control methods. We begin with the development of a nonlinear state feedback controller and direct and adaptive fuzzy controllers, that we will later use as a baseline comparison to show what type of performance is possible for this testbed. Then we develop an adaptive control routine based on the genetic algorithm (GA). In particular, we will show that a GA can be used online in real-time to produce a particularly effective adaptive control method and this is the main contribution of this work. Computational and real-time implementation issues will be discussed and the genetic adaptive strategy will be compared with the state feedback and fuzzy control methods
Keywords :
adaptive control; fuzzy control; genetic algorithms; nonlinear control systems; nonlinear dynamical systems; online operation; optimal control; real-time systems; robots; 2-DOF robot; GA; adaptive fuzzy controller; complicated nonlinear dynamics; digital controller; direct fuzzy controller; genetic adaptive control; genetic algorithm; inverted wedge; nonlinear state feedback controller development; online real-time operation; planar robot; underactuated robot; Adaptive control; Control system synthesis; Digital control; Fuzzy control; Genetic algorithms; Programmable control; Robots; State estimation; State feedback; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
ISSN :
0743-1619
Print_ISBN :
0-7803-4990-3
Type :
conf
DOI :
10.1109/ACC.1999.782858
Filename :
782858
Link To Document :
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