Mier, G.; Lope, J.D. Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques. Inventions2017, 2, 16.
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. Inventions2017, 2, 16.
Mier, G.; Lope, J.D. Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques. Inventions 2017, 2, 16.
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.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
