317 物理モデリングを利用した直列多重倒立振子の振り上げ制御

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  • 317 Swing-up control of multi-link inverted pendulum system by use of physical modeling

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We propose the control method with the artificial neural network (ANN). The synaptic weights of ANN are explored with the genetic algorithm, which is one of the evolutionary computing methods. In this paper, we perform the swing-up control experiments of the single inverted pendulum in the virtual space by the physical law. As the result, we verified that our proposed method is possible to acquire the optimal controller for the single inverted pendulum to a limited moving range.

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