Intelligent stabilization control to an arbitrary equilibrium point of double pendulum

Masaki Takahashi, Terumasa Narukawa, Kazuo Yoshida

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

2 Citations (Scopus)

Abstract

This study aims at establishing a robust and I effective intelligent control method for nonlinear and complicated systems. In the method, an integrator neural network acquires suitable switching and integration of several controllers for a different local purpose by calculating the fitness function based on the system objective using the genetic algorithm. The proposed method is applied to an equilibrium point transfer and stabilization control of a double pendulum that possesses four equilibrium points. In order to verify the effectiveness of the proposed method, computational simulations and experiments using a real apparatus were carried out. As a result, it was demonstrated that the integrated intelligent controllers can transfer and stabilize the double pendulum from an arbitrary equilibrium point to a desired unstable equilibrium point without touching the cart position limit.

Original languageEnglish
Title of host publicationProceedings of the 2004 American Control Conference (AAC)
Pages5772-5777
Number of pages6
DOIs
Publication statusPublished - 2004 Nov 30
EventProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
Duration: 2004 Jun 302004 Jul 2

Publication series

NameProceedings of the American Control Conference
Volume6
ISSN (Print)0743-1619

Other

OtherProceedings of the 2004 American Control Conference (AAC)
CountryUnited States
CityBoston, MA
Period04/6/3004/7/2

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Takahashi, M., Narukawa, T., & Yoshida, K. (2004). Intelligent stabilization control to an arbitrary equilibrium point of double pendulum. In Proceedings of the 2004 American Control Conference (AAC) (pp. 5772-5777). (Proceedings of the American Control Conference; Vol. 6). https://doi.org/10.1109/ACC.2004.249068