Method of Controlling Inverted Pendulum Based on Fusing Genetic Algorithm and Neural Network

Li Na Liu; Yu Wang

doi:10.4028/www.scientific.net/AMR.383-390.5758

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 383-390Method of Controlling Inverted Pendulum Based on...

Method of Controlling Inverted Pendulum Based on Fusing Genetic Algorithm and Neural Network

Abstract:

As a result of inverted pendulum control based on traditional neural network algorithm existing shortcomings that are training time to be long, the convergence rate slow and easy to fall into the partial minimum point, a method of fusing genetic algorithm and neural network control is proposed in this article. The structure of inverted pendulum controller adopts neural network, genetic algorithm is used to optimize the attached weights and thresholds of neural network. The experimental results illustrate that the method can overcome inadequacies of the neural network, with the characteristics of convergence speed is fast, global search ability is strong, dynamic and steady state control performance is good. Furthermore, it has advantages of simple controller structure and easy to be implemented.

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Manufacturing Science and Technology, ICMST2011

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Periodical:

Advanced Materials Research (Volumes 383-390)

Pages:

5758-5763

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.383-390.5758

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Online since:

November 2011

Authors:

Li Na Liu, Yu Wang

Keywords:

Genetic Algorithm (GA), Inverted Pendulum, Neural Network (NN), Optimization

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