NDLI: Link lengths search using genetic algorithm for stabilization of quintuple inverted pendulum

Content Provider	IEEE Xplore Digital Library
Author	Onishi, Y. Izutu, M. Iwase, M.
Copyright Year	2011
Description	Author affiliation: Department of Robotics and Mechatronics, Tokyo Denki University, Tokyo, Japan (Onishi, Y.; Izutu, M.; Iwase, M.)
Abstract	A quintuple inverted pendulum has strong nonlinearity. It is difficult that a pendulum system consisting multiple links is stabilized by a linear controller in the neighborhood of the upright position. The mass balance of each link plays an important role for the control of pendulum. In this paper, searching the appropriate length of each link for a linear quadratic regulator is investigated using a GA algorithm. In the proposed method, the better link lengths are chosen according to the criteria with the living time of the pendulum around the neighborhood of upright position. The effectiveness of the method is verified from the viewpoint of the region of attraction with the link length decided by the proposed GA method.
Starting Page	739
Ending Page	744
File Size	5297114
Page Count	6
File Format	PDF
ISBN	9781457707148
e-ISBN	9784907764395
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-13
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	SICE (The Society of Instrument and Cont
Subject Keyword	Genetic algorithms Stability analysis Optimal control Mathematical model Friction Genetic Algorithm inverted quintuple pendulum
Content Type	Text
Resource Type	Article

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Link lengths search using genetic algorithm for stabilization of quintuple inverted pendulum