ANN based intelligent controller for inverted pendulum system

Author

Upadhyay, Dharmndra ; Tarun, N. ; Nayak, Tanistha

Author_Institution

Control Syst., IIT (BHU), Varanasi, India

fYear

2013

fDate

12-14 April 2013

Firstpage

1

Lastpage

6

Abstract

Artificial neural network as an artificial intelligence technique is used in this paper to control the angle with position of a non- linear inverted pendulum system. The ANN controller here is a specified three layered feed forward network having, Input, Hidden and Output layers. `Trainlm´ network function that is used to update weights and bias states according to Levenberg- Marquardt (LM) back-propagation, is used here for training. The dynamic modelling of Inverted pendulum system is done using Euler-Langerange equation and the main task is to control the angle with position of non-linear system by the neural network controller and to compare the response with response of conventional controller using MATLAB simulations and to show the improved response.

Keywords

artificial intelligence; backpropagation; intelligent control; nonlinear control systems; ANN based intelligent controller; Euler-Langerange equation; LM backpropagation; Levenberg Marquardt backpropagation; MATLAB simulations; Trainlm network function; artificial intelligence technique; artificial neural network; conventional controller; feed forward network; hidden layers; input layers; neural network controller; nonlinear inverted pendulum system; output layers; Artificial neural networks; Control systems; Equations; IP networks; Mathematical model; Nonlinear dynamical systems; Artificial Intelligence (AI); Artificial Neural Network (ANN); Feed-Forward Network (FFN); Inverted pendulum (IP); Levenberg- Marquardt (LM) back-propagation;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering and Systems (SCES), 2013 Students Conference on

Conference_Location

Allahabad

Print_ISBN

978-1-4673-5628-2

Type

conf

DOI

10.1109/SCES.2013.6547526

Filename

6547526