Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 1999.06a
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- Pages.809-812
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- 1999
Control of Pendulum using Hybrid Neuro-controller
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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.
Keywords