Intelligent stabilization control to an arbitrary equilibrium point of double pendulum

Masaki Takahashi, Terumasa Narukawa, Kazuo Yoshida

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2004 American Control Conference (AAC)
ページ5772-5777
ページ数6
DOI
出版ステータスPublished - 2004 11 30
イベントProceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
継続期間: 2004 6 302004 7 2

出版物シリーズ

名前Proceedings of the American Control Conference
6
ISSN(印刷版)0743-1619

Other

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

ASJC Scopus subject areas

  • 電子工学および電気工学

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