Optimal Control Based on CACM-RL in a Two-Wheeled Inverted Pendulum
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...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2012-12-01
|
Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.5772/54658 |
Summary: | 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. |
---|---|
ISSN: | 1729-8814 |