Neural Network Control of an Inverted Pendulum on a Two DoF Cart Moving in the Vertical Plane

Ratolikar, Mangesh D. and Kumar, R Prasanth (2021) Neural Network Control of an Inverted Pendulum on a Two DoF Cart Moving in the Vertical Plane. In: 6th International Conference on Robotics and Automation Engineering, ICRAE 2021, 19 November 2021through 22 November 2021, Guangzhou.

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Abstract

Inverted pendulum control finds similarities with control of legged robots such as bipedal or humanoid robots where the trunk is balanced in an upright position. This paper proposes and presents a two degree of freedom cart that can move in the vertical plane while holding an underactuated pendulum. A neural network controller is trained using reinforcement learning to swing up and balance the pendulum by applying appropriate forces along horizontal and vertical directions. Simulation results show successful swinging up and balancing of the underactuated pendulum by applying horizontal and vertical forces on the cart while simultaneously keeping the cart within horizontal and vertical limits on displacements. © 2021 IEEE.

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IITH Creators:	IITH Creators ORCiD Kumar, R Prasanth UNSPECIFIED
Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	inverted pendulum; neural network controller; reinforcement learning; two-dof cart
Subjects:	Physics > Mechanical and aerospace
Divisions:	Department of Mechanical & Aerospace Engineering
Depositing User:	. LibTrainee 2021
Date Deposited:	10 Sep 2022 06:03
Last Modified:	10 Sep 2022 06:03
URI:	http://raiithold.iith.ac.in/id/eprint/10521
Publisher URL:	http://doi.org/10.1109/ICRAE53653.2021.9657762
Related URLs:	Author Google Scholar

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