Improved Forms for Controlling the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques

@inproceedings{Mier2017ImprovedFF,
  title={Improved Forms for Controlling the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques},
  author={Gonzalo Mier and Javier de Lope},
  year={2017}
}
An acrobot is a planar robot with a passive actuator in its first joint. The control problem of the acrobot tries to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up problem, when the robot has to rise itself through swinging up as a human acrobat does, and the balancing problem, when the robot has to maintain itself on the inverted pendulum position. We have developed three controllers for the swing-up problem applied to… Expand

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TLDR
A case study of the development of a variety of intelligent controllers for a challenging application, a comparative analysis of intelligent vs. conventional control methods for this application, and two genetic algorithms for tuning the balancing and swing-up controllers are developed. Expand
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