Optimal Control Based on CACM-RL in a Two-Wheeled Inverted Pendulum

International Journal of Advanced Robotic Systems

关键词: Decentralized control;    High-Order Neural Networks;    Extended Kalman Filter;    Backstepping;   

DOI  :  10.5772/54658

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY