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

Masaki Takahashi, Terumasa Narukawa, Kazuo Yoshida

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ914-919
ページ数6
DOI
出版ステータスPublished - 2003 1 1
イベントPROCEEDINGS of the 2003 IEEE INTERNATIONAL SYMPOSIUM on INTELLIGENT CONTROL - Houston, TX, United States
継続期間: 2003 10 52003 10 8

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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