대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 B
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- Pages.425-428
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- 2003
Stabilization of Inverted Pendulum Using Neural Network with Genetic Algorithm
- Jin, Dan (Department of Electrical Engineering, Myongji University) ;
- Kim, Kab-Il (Department of Electrical Engineering, Myongji University) ;
- Son, Young-I. (Department of Electrical Engineering, Myongji University)
- 발행 : 2003.11.21
초록
In this paper, the stabilization of an inverted pendulum system is studied. Here, the PID control method is adopted to make the system stable. In order to adjust the PID gains, a three-layer neural network, which is based on the back propagation method, is used. Meanwhile, the time for training the neural network depends on the initial values of PID gains and connection weights. Hence, the genetic algorithm Is considered to shorten the time to find the desired values. Simulation results show the effectiveness of the proposed approach.