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. Research and Development in Intelligent Systems XXIX. Cambridge, England Springer, London. pp. 229-242 https://doi.org/10.1007/978-1-4471-4739-8
TypeConference paper
TitleSwing up and balance control of the acrobot solved by genetic programming
AuthorsDracopoulos, 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.
Book Chapter
Pages 229-242
Swing Up and Balance Control of the Acrobot Solved by Genetic Programming
Dimitris C. Dracopoulos, Barry D. Nichols
Download PDF (402KB)

ConferenceResearch and Development in Intelligent Systems XXIX
Page range229-242
ISBN
Hardcover9781447147381
PublisherSpringer, London
Publication dates
PrintDec 2012
Publication process dates
Deposited24 Jun 2015
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1007/978-1-4471-4739-8
LanguageEnglish
Book titleResearch and Development in Intelligent Systems XXIX
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