Adaptive Control of an Inverted Pendulum Using Adaptive PID Neural Network
In this paper, a new method for adaptive control of nonlinear systems using neural networks and proportional-integral-derivative (PID) methodology is proposed. In this method, a PID control and adaptive linear neural network is used to control a inverted pendulum with uncertainties and external dist...
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Format: | Tagungsbericht |
Sprache: | eng |
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Zusammenfassung: | In this paper, a new method for adaptive control of nonlinear systems using neural networks and proportional-integral-derivative (PID) methodology is proposed. In this method, a PID control and adaptive linear neural network is used to control a inverted pendulum with uncertainties and external disturbances. The system consists of an inverted pole hinged on a cart which is free to move in the x direction. The performance of the proposed method is demonstrated via simulations. |
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DOI: | 10.1109/ICSPS.2009.110 |