Title :
Applications of neural networks for control of a double inverted pendulum
Author :
Arbo, Mathias H. ; Raijmakers, Paul A. ; Mladenov, Valeri M.
Author_Institution :
Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
A study regarding the swing-up and stabilization problem of a double pendulum on a cart is presented. Current methods of feed forward control, energy based control, and passivity based control are used to select a design for the swing-up controller. The stabilization is done using an LQR controller. The nonlinear controller is analyzed with respect to being approximated by a neural network [1].
Keywords :
feedforward; neurocontrollers; nonlinear control systems; pendulums; stability; LQR controller; cart; double inverted pendulum; energy based control; feed forward control; neural networks; nonlinear controller; passivity based control; stabilization problem; swing-up controller; swing-up problem; Control systems; Educational institutions; Feeds; Neural networks; Robustness; Simulation; Training; Feed forward systems; neural networks; nonlinear control systems;
Conference_Titel :
Neural Network Applications in Electrical Engineering (NEUREL), 2014 12th Symposium on
Conference_Location :
Belgrade
Print_ISBN :
978-1-4799-5887-0
DOI :
10.1109/NEUREL.2014.7011468
