Control of Pendulum using Hybrid Neuro-controller

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  • 박규태 (영남대학교 전기전자공학부) ;
  • 박정일 (영남대학교 전기전자공학부) ;
  • 이석규 (영남대학교 전기전자공학부)
  • Published : 1999.06.01

Abstract

The pendulum is a SIMO(Single-input multi-output) system that both angle of pendulum and position of cart controlled simultaneously by one actuator. In this paper, propose a hybrid neuro-controller to apply to pendulum system. We design the conventional optimal controller and the neural network as a identifier, which can identify the uncertainty of plant not modeled, respectively. Then we combine them into a novel controller, with a structure that the error between plant and identifier is added in conventional optimal control input Finally, the paper shows the validity of the proposed controller through computer simulations and experiments.

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