Control of an Inverted Pendulum by Learning Swing-up Trajectory

A new algorithm is proposed for learning the swing-up trajectory of an inverted pendulum. In this algorithm input trajectories of the actuator to drive an inverted pendulum are iteratively improved to optimize the performance index which evaluates the feasibile swing-up trajectory to stabilize the p...

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Veröffentlicht in:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 1995/04/25, Vol.61(584), pp.1537-1542
Hauptverfasser:	Ozaki, Hiroaki, Lin, Chang-Jun, Shimogawa, Tetsuji
Format:	Artikel
Sprache:	eng ; jpn
Schlagworte:	Automatic Control B-Spline Complex Method Inverted Pendulum Learning Control Mechatronics Robotics Swing-up Trajectory Trajectory Planning
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