Neural network control of an inverted pendulum on a cart

Authors:
Valeri Mladenov;Georgi Tsenov;Lambros Ekonomou;Nicholas Harkiolakis;Panagiotis Karampelas
Affiliations:
Department of Theoretical Electrical Engineering, Technical University of Sofia, Sofia, Bulgaria;Department of Theoretical Electrical Engineering, Technical University of Sofia, Sofia, Bulgaria;A.S.PE.T.E., School of Pedagogical and Technological Education, Department of Electrical Engineering Educators, Athens, Greece;IT Faculty, Hellenic American University, Athens, Greece;IT Faculty, Hellenic American University, Athens, Greece
Venue:
ROCOM'09 Proceedings of the 9th WSEAS international conference on Robotics, control and manufacturing technology
Year:
2009

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Abstract

The balancing of an inverted pendulum by moving a cart along a horizontal track is a classic problem in the area of control. This paper describes two Neural Network controllers to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. Both controllers are able to learn the demonstrated behavior which was swinging up and balancing the inverted pendulum in the upright position starting from different initial angles.