Title :
Modeling of inverted pendulum on a cart by using Artificial Neural Networks
Author :
Korkmaz, Deniz ; Bal, Cafer ; Gokbulut, Muammer
Author_Institution :
Elektron. ve Bilgisayar Egitimi Bolumu, Firat Univ., Elazığ, Turkey
Abstract :
In this study, mathematical model of the single bar inverted pendulum on a cart, which exhibits similar behavior to the dynamics of a robotic arm, is derived by using Lagrange method. At the same time, nonlinear model of the inverted pendulum is simulated in MATLAB environment by using Multilayer Artificial Neural Networks (MANN). MANN is trained by back propagation learning algorithm and dynamic NARX network model is selected for MANN. This model is the basis for dynamics of the robotic arm.
Keywords :
backpropagation; neural nets; nonlinear systems; pendulums; Lagrange method; MANN; Matlab environment; artificial neural networks; back propagation learning algorithm; cart; dynamic NARX network model; inverted pendulum modeling; mathematical model; multilayer artificial neural networks; nonlinear model; robotic arm; single bar inverted pendulum; Artificial neural networks; Conferences; Heuristic algorithms; MATLAB; Mathematical model; Robots; artificial neural networks; inverted pendulum; lagrange method; nonlinear modeling;
Conference_Titel :
Signal Processing and Communications Applications Conference (SIU), 2015 23th
Conference_Location :
Malatya
DOI :
10.1109/SIU.2015.7130431
