Title :
A rule-based neural controller for inverted pendulum system
Author :
Hao, Jianbin ; Tan, Shaohua ; Vandewalle, Joos
Author_Institution :
Dept. of Electr. Eng., Katholieke Univ. Leuven, Heverlee, Belgium
Abstract :
It is demonstrated how a heuristic neural control approach can be used to solve a complex nonlinear control problem. As well as swinging up the pendulum, the controller is required to bring the cart back to the origin of the track. Through the solution of this specific control problem, a heuristic neural control approach with task decomposition, control rule extraction and neural net rule implementation as its basic elements is illustrated. Specializing to the pendulum problem, the global control task is decomposed into sub-tasks, namely, pendulum positioning and cart positioning. Three separate neural sub-controllers are designed to cater to the sub-tasks and their coordination. The simulation result is provided to show the actual performance of the controller
Keywords :
neural nets; nonlinear control systems; position control; cart positioning; complex nonlinear control; control rule extraction; global control task; heuristic neural control approach; inverted pendulum system; neural sub-controllers; pendulum positioning; rule-based neural controller; sub-tasks; task decomposition; Control design; Control systems; Feedforward neural networks; Fuzzy control; Industrial control; Neural networks; Neurons; Nonlinear control systems; Nonlinear systems; State-space methods;
Conference_Titel :
Neural Networks, 1993., IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-0999-5
DOI :
10.1109/ICNN.1993.298614
