Title :
Swinging up the Acrobot: an example of intelligent control
Author :
DeJong, Gerald ; Spong, Mark W.
Author_Institution :
Dept. of Comput. Sci., Illinois Univ., Urbana, IL, USA
fDate :
29 June-1 July 1994
Abstract :
In our approach, intelligent control integrates the symbolic reasoning of artificial intelligence (AI) into the control procedure. We describe how this can be accomplished by a straightforward abstraction of the conventional notion of the control model. We apply the techniques to the problem of swing-up control of the Acrobot. The resulting explanation-based control strategy is compared with two more-conventionally-derived control strategies. We briefly discuss the strengths and weaknesses of the new approach.
Keywords :
explanation; intelligent control; model-based reasoning; robots; Acrobot; abstraction; artificial intelligence; explanation-based control; intelligent control; swing-up control; symbolic reasoning; Artificial intelligence; Computer science; Control theory; Equations; Inference mechanisms; Intelligent control; Logic; Mathematical model; Vocabulary; Writing;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752458
