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

fYear

2015

fDate

16-19 May 2015

Firstpage

2642

Lastpage

2645

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing and Communications Applications Conference (SIU), 2015 23th

Conference_Location

Malatya

Type

conf

DOI

10.1109/SIU.2015.7130431

Filename

7130431