Application of BP Neural Network Controller on Inverted Pendulum

Huan Xin Cheng; Dao Sheng Zhang; Li Cheng

doi:10.4028/www.scientific.net/AMM.328.72

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 328Application of BP Neural Network Controller on...

Application of BP Neural Network Controller on Inverted Pendulum

Abstract:

The traditional PID control, which is based on linearization, is often hard to obtain the optimal control effect on such nonlinear, multiple-output, strongly coupled systems like inverted pendulum. To solve the problem above, the BP neural network controller was developed for inverted pendulum. On the basis of establishing and analyzing the mathematical model of single inverted-pendulum, this paper established the state space expression, and then designed a neural network control system based on BP algorithm. The simulation was researched by Matlab and the running results show that this control has good robustness and can achieve satisfactory control effect.

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Periodical:

Applied Mechanics and Materials (Volume 328)

Pages:

72-76

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.328.72

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Online since:

June 2013

Authors:

Huan Xin Cheng, Dao Sheng Zhang, Li Cheng

Keywords:

BP Algorithm, BP Neural Network (BPNN), Inverted Pendulum

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