Title :
Application in the Acrobot Systems of BPNN Based on Particle Swarm Optimization
Author :
Li, Hong ; Zhang, Bing ; Nie, Yan
Author_Institution :
Beijing Inst. of Machinery, Beijing
fDate :
May 30 2007-June 1 2007
Abstract :
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.
Keywords :
backpropagation; control system synthesis; manipulators; neurocontrollers; particle swarm optimisation; Acrobot systems; BPNN equilibrium control strategy; backpropagation neural network controller design; nonholonomic systems; particle swarm optimization; underactuated manipulator; Automatic control; Automation; Control systems; Fuzzy control; Machinery; Multi-layer neural network; Neural networks; Optimal control; Particle swarm optimization; State feedback; Acrobot; BP neural network; particle swarm optimization; underactuated mechanical systems;
Conference_Titel :
Control and Automation, 2007. ICCA 2007. IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
978-1-4244-0818-4
Electronic_ISBN :
978-1-4244-0818-4
DOI :
10.1109/ICCA.2007.4376557
