TY - GEN
T1 - Swing up and balance control of the acrobot solved by genetic programming
AU - Dracopoulos, Dimitris C.
AU - Nichols, Barry D.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84881528220&partnerID=8YFLogxK
U2 - 10.1007/978-1-4471-4739-8_19
DO - 10.1007/978-1-4471-4739-8_19
M3 - Conference contribution
AN - SCOPUS:84881528220
SN - 9781447147381
T3 - Res. and Dev. in Intelligent Syst. XXIX: Incorporating Applications and Innovations in Intel. Sys. XX - AI 2012, 32nd SGAI Int. Conf. on Innovative Techniques and Applications of Artificial Intel.
SP - 229
EP - 242
BT - Res. and Dev. in Intelligent Syst. XXIX
PB - Springer Nature Link
T2 - 32nd SGAI International Conference on Innovative Techniques and Applications of Artificial Intelligence, AI 2012
Y2 - 11 December 2012 through 13 December 2012
ER -