Title :
Adaptive Control of an Inverted Pendulum Using Adaptive PID Neural Network
Author :
Fallahi, Mohsen ; Azadi, Sassan
Author_Institution :
Dept. of Mechatron. Eng., Semnan Univ. Semnan, Semnan, Iran
Abstract :
In this paper, a new method for adaptive control of nonlinear systems using neural networks and proportional-integral-derivative (PID) methodology is proposed. In this method, a PID control and adaptive linear neural network is used to control a inverted pendulum with uncertainties and external disturbances. The system consists of an inverted pole hinged on a cart which is free to move in the x direction. The performance of the proposed method is demonstrated via simulations.
Keywords :
adaptive control; neurocontrollers; nonlinear control systems; three-term control; PID control; adaptive PID neural network; adaptive control; adaptive linear neural network; inverted pendulum; inverted pole; proportional-integral-derivative methodology; Adaptive control; Adaptive systems; Control systems; Neural networks; Pi control; Programmable control; Proportional control; Sliding mode control; Three-term control; Tuning; Adaptive control; Inverted Pendulum; Neural Network; PID;
Conference_Titel :
2009 International Conference on Signal Processing Systems
Conference_Location :
Singapore
Print_ISBN :
978-0-7695-3654-5
DOI :
10.1109/ICSPS.2009.110
