Title :
Neuro-PID control for inverted single and double pendulums
Author :
Omatu, Sigeru ; Fujinaka, Toru ; Yoshioka, Michifumi
Author_Institution :
Osaka Prefectural Univ., Sakai, Japan
Abstract :
The paper is concerned with a new architecture of a self-tuning neuro-PID control system and its application to stabilization of an inverted pendulum. A single-input multi-output system is considered to control the inverted pendulum by using the PID controller. The PID gains are tuned by using two kinds of neural network. The simulation results show effectiveness of the proposed approach
Keywords :
adaptive control; neurocontrollers; nonlinear control systems; pendulums; self-adjusting systems; simulation; stability; three-term control; PID controller; PID gain tuning; inverted double pendulum; inverted single pendulum; neural network; self-tuning neuro-PID control system; simulation; single-input multi-output system; stabilization; Artificial neural networks; Control systems; Error correction; Neural networks; Neurons; Noise robustness; Process control; Robot control; Robust control; Three-term control;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.884401
