Title :
Application of neural networks to the flexible pole-cart balancing problem
Author :
Dadios, Elmer P. ; Williams, David J.
Author_Institution :
Dept. of Manuf. Eng., Loughborough Univ. of Technol., UK
Abstract :
This paper investigates the use of neural networks in the control of highly nonlinear systems. Online and off line control of a cart balancing a flexible pole under its first mode of vibration using neural networks is presented. Backpropagation and Kohonen´s self-organizing map have been used as neural network examples. The networks learned from a set of training data derived from a real system and were initially tested against a computer simulation of the derived dynamics of the flexible pole-cart balancing system and then applied to the real system
Keywords :
backpropagation; flexible structures; neurocontrollers; nonlinear control systems; self-organising feature maps; Kohonen´s self organizing map; backpropagation; dynamics; flexible pole-cart balancing problem; highly nonlinear systems; neural networks; off line control; online control; vibration; Backpropagation; Biological neural networks; Biology computing; Computer networks; Computer simulation; Flexible manufacturing systems; Neural networks; Organizing; System testing; Training data;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538158
