Title :
Neuro-PID control for stabilization of inverted single and double pendulums
Author :
Kishida, Yoshiyuki ; Omatu, Sigeru ; Fujinaka, Tom ; Yoshioka, Michifumi
Author_Institution :
Osaka Prefecture Univ., Japan
Abstract :
The paper is concerned with an 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 networks. The simulation results show the effectiveness of the proposed approach
Keywords :
multivariable control systems; neurocontrollers; position control; self-adjusting systems; stability; three-term control; inverted double pendulum; inverted single pendulum; self-tuning neuro-PID control system; single-input multi-output system; stabilization; Artificial neural networks; Automatic control; Control systems; Neural networks; Neurons; PD control; Pi control; Process control; Proportional control; Three-term control;
Conference_Titel :
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-5731-0
DOI :
10.1109/ICSMC.1999.812565
