Swing up and balance control of the acrobot solved by genetic programming
Conference paper
Dracopoulos, D. and Nichols, B. 2012. Swing up and balance control of the acrobot solved by genetic programming. AI-2012: The Thirty-second SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence. Cambridge, England 11 - 13 Dec 2012 Springer. pp. 229-242 https://doi.org/10.1007/978-1-4471-4739-8_19
Type | Conference paper |
---|---|
Title | Swing up and balance control of the acrobot solved by genetic programming |
Authors | Dracopoulos, D. and Nichols, B. |
Abstract | The evolution of controllers using genetic programming is described for the continuous, limited torque minimum time swing-up and inverted balance problems of the acrobot. The best swing-up controller found is able to swing the acrobot up to a position very close to the inverted 'handstand' position in a very short time, which is comparable to the results which have been achieved by other methods using similar parameters for the dynamic system. The balance controller is successful at keeping the acrobot in the unstable, inverted position when starting from the inverted position. |
Conference | AI-2012: The Thirty-second SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence |
Page range | 229-242 |
Proceedings Title | Research and Development in Intelligent Systems XXIX: Incorporating Applications and Innovations in Intelligent Systems XX Proceedings of AI-2012, The Thirty-second SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence |
ISBN | |
Paperback | 9781447147381 |
Electronic | 9781447147398 |
Publisher | Springer |
Publication dates | |
Online | 09 Oct 2012 |
30 Oct 2012 | |
Publication process dates | |
Deposited | 24 Jun 2015 |
Output status | Published |
Digital Object Identifier (DOI) | https://doi.org/10.1007/978-1-4471-4739-8_19 |
Web address (URL) of conference proceedings | https://doi.org/10.1007/978-1-4471-4739-8 |
Language | English |
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