Title :
A Hybrid Control Scheme for a Rotational Inverted Pendulum
Author :
Shojaei, A.A. ; Othman, M.F. ; Rahmani, R. ; Rani, M.R.
Author_Institution :
Centre for Artificial Intell. & Robot., Univ. Teknol. Malaysia, Kuala Lumpur, Malaysia
Abstract :
This paper proposes the implementation of a novel controller based on a Recurrent Neural Network and PID controller for a Rotational Inverted pendulum. The objective of the controller is to determine the control strategy to stabilize the pendulum angle. Normally, the pendulum is a move towards an uncontrolled state. The Rotational Inverted pendulum by RNN controller and PID controller are analyzed in detail. This paper presents an investigation problem for stabilizing the RIP using Genetic Algorithm (GA), which can guide the control design for a nonlinear model. The result shows that both controllers are capable of controlling the Rotational Inverted pendulum system successfully, as shown in the simulation results.
Keywords :
genetic algorithms; neurocontrollers; nonlinear control systems; pendulums; recurrent neural nets; stability; three-term control; PID controller; genetic algorithm; hybrid control scheme; recurrent neural network; rotational inverted pendulum; stability; Computational modeling; Control systems; Genetic algorithms; Mathematical model; Neurons; Optimization; Recurrent neural networks; Genetic Algorithm; Recurrent Neural Network; Rotational Inverted pendulum system; non liner model;
Conference_Titel :
Computer Modeling and Simulation (EMS), 2011 Fifth UKSim European Symposium on
Conference_Location :
Madrid
Print_ISBN :
978-1-4673-0060-5
DOI :
10.1109/EMS.2011.79
