Title :
Control of a multivariable system by a neural network [inverted pendulum]
Author :
Seikiguchi, M. ; Sugasaka, Tamami ; Nagata, Shigemi
Author_Institution :
Fujitsu Lab. Ltd., Kanagawa, Japan
Abstract :
An inverted pendulum presents a typical problem of controlling a nonlinear multivariable system. In the paper a discussion is presented of inverted pendulum control by a neural network. The neutral network learns a control law through the trial and error method. In the simulation and actual system, it was possible to invert the pendulum stably at the target position after some trial and error
Keywords :
learning systems; multivariable control systems; neural nets; nonlinear control systems; position control; inverted pendulum; learning systems; motions control; neural network; nonlinear multivariable system; position control; target position; trial and error method; Control systems; Control theory; Error correction; Fuzzy control; Laboratories; MIMO; Motion control; Neural networks; Nonlinear equations; Torque control;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132028
