Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum

Masaki Takahashi, Terumasa Narukawa, Kazuo Yoshida

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This study aims at establishing a robust intelligent control method with higher control performance and wider applicable region by extending the Cubic Neural Network (CNN) intelligent control method. This study deals with a nonlinear control problem. In the control, an NN-based nonlinear switching hyperplane is designed based on the dynamical energy principle. The proposed integrated CNN is applied to a control problem of a swung up and inverted double pendulum mounted on a cart for the case of arbitrary initial condition of pendulum angle. In order to verify the performance of the integrated CNN, computer simulations and experiments on a real apparatus were carried out for the cases of parameter variation and sensor failure. As a result, it was demonstrated that the integrated CNN can stand up the double pendulum without touching the cart position limit in abnormal situations. Then, the robustness and the fault-tolerance of the integrated CNN were verified compared with the linear quadratic control techniques.

Original languageEnglish
Title of host publicationIEEE International Symposium on Intelligent Control - Proceedings
Pages914-919
Number of pages6
Publication statusPublished - 2003
EventPROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL - Houston, TX, United States
Duration: 2003 Oct 52003 Oct 8

Other

OtherPROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL
CountryUnited States
CityHouston, TX
Period03/10/503/10/8

Fingerprint

Intelligent control
Pendulums
Neural networks
Controllers
Robust control
Fault tolerance
Sensors
Computer simulation
Experiments

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Takahashi, M., Narukawa, T., & Yoshida, K. (2003). Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum. In IEEE International Symposium on Intelligent Control - Proceedings (pp. 914-919)

Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum. / Takahashi, Masaki; Narukawa, Terumasa; Yoshida, Kazuo.

IEEE International Symposium on Intelligent Control - Proceedings. 2003. p. 914-919.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Takahashi, M, Narukawa, T & Yoshida, K 2003, Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum. in IEEE International Symposium on Intelligent Control - Proceedings. pp. 914-919, PROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL, Houston, TX, United States, 03/10/5.
Takahashi M, Narukawa T, Yoshida K. Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum. In IEEE International Symposium on Intelligent Control - Proceedings. 2003. p. 914-919
Takahashi, Masaki ; Narukawa, Terumasa ; Yoshida, Kazuo. / Intelligent Control Using Destabilized and Stabilized Controllers for a Swung up and Inverted Double Pendulum. IEEE International Symposium on Intelligent Control - Proceedings. 2003. pp. 914-919
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