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
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.

ConferenceAI-2012: The Thirty-second SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence
Page range229-242
Proceedings TitleResearch 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
Paperback9781447147381
Electronic9781447147398
PublisherSpringer
Publication dates
Online09 Oct 2012
Print30 Oct 2012
Publication process dates
Deposited24 Jun 2015
Output statusPublished
Digital Object Identifier (DOI)https://doi.org/10.1007/978-1-4471-4739-8_19
Web address (URL) of conference proceedingshttps://doi.org/10.1007/978-1-4471-4739-8
LanguageEnglish
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