Preprint Article Version 1 This version is not peer-reviewed

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

Version 1 : Received: 1 July 2017 / Approved: 4 July 2017 / Online: 4 July 2017 (16:12:37 CEST)

A peer-reviewed article of this Preprint also exists.

Mier, G.; Lope, J.D. Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques. Inventions 2017, 2, 16. Mier, G.; Lope, J.D. Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques. Inventions 2017, 2, 16.

Journal reference: Inventions 2017, 2, 16
DOI: 10.3390/inventions2030016

Abstract

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 two types of motors: small and big. For small motors, we used the SARSA controller and the PD with a trajectory generator. For big motors, we propose a new controller to control the acrobot, a PWM controller. All controllers except SARSA are tuned using a Genetic Algorithm.

Subject Areas

Acrobot; Artificial Intelligence; SARSA; PWM; Genetic Algorithm

Readers' Comments and Ratings (0)

Leave a public comment
Send a private comment to the author(s)
Rate this article
Views 0
Downloads 0
Comments 0
Metrics 0
Leave a public comment

×
Alerts
Notify me about updates to this article or when a peer-reviewed version is published.