Open AccessOptimal Control Based on CACM-RL in a Two-Wheeled Inverted Pendulum
Author(s) -
M. Gómez,
Tomás Arribas,
Sebastián Sánchez
Publication year - 2012
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/54658
Subject(s) - inverted pendulum , computer science , control theory (sociology) , controller (irrigation) , twip , work (physics) , pid controller , scheme (mathematics) , double inverted pendulum , control (management) , control engineering , mathematics , artificial intelligence , nonlinear system , temperature control , microstructure , materials science , crystal twinning , engineering , quantum mechanics , agronomy , physics , mathematical analysis , biology , metallurgy , mechanical engineering
This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP). The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates implementing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom