神经网络在双层倒立摆控制中的应用

12th Symposium on Neural Network Applications in Electrical Engineering (NEUREL) Pub Date : 2014-11-01 DOI:10.1109/NEUREL.2014.7011468

M. H. Arbo, Paul A. Raijmakers, V. Mladenov

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引用次数: 5

摘要

研究了小车上的双摆摆的起摆与稳定问题。采用现有的前馈控制、能量控制和无源控制方法对摆动控制器进行设计选择。稳定是使用LQR控制器完成的。从神经网络逼近的角度分析了非线性控制器[1]。

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Applications of neural networks for control of a double inverted pendulum

A study regarding the swing-up and stabilization problem of a double pendulum on a cart is presented. Current methods of feed forward control, energy based control, and passivity based control are used to select a design for the swing-up controller. The stabilization is done using an LQR controller. The nonlinear controller is analyzed with respect to being approximated by a neural network [1].

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12th Symposium on Neural Network Applications in Electrical Engineering (NEUREL)

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