Title :
Learning control of an inverted pendulum using neural networks
Author :
Kawaji, S. ; Maeda, T. ; Matsunaga, N.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Kumamoto Univ., Japan
Abstract :
Several problems in control using neural networks are pointed out, and a method for using some knowledge about the properties of the controlled object is indicated. As an example, a hierarchical control system of an inverted pendulum using a neural network is proposed. The controller consists of a pendulum part driven by the neural network and a cart part generating the virtual signal. As a result, the neurocontroller can be constructed easily and can be learned rapidly. The effectiveness of the control system has been confirmed by simulation and experimental results
Keywords :
hierarchical systems; learning (artificial intelligence); learning systems; neural nets; cart; hierarchical control system; inverted pendulum; learning control; neural networks; neurocontroller; virtual signal; Computer networks; Control engineering; Control system synthesis; Control systems; Education; Equations; Learning systems; Light rail systems; Neural networks; Neurocontrollers; Open loop systems; Signal generators;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371321
