Swing up and balance control of the acrobot solved by genetic programming

Dracopoulos, Dimitris C. and Nichols, Barry D. ORCID: https://orcid.org/0000-0002-6760-6037 (2012) Swing up and balance control of the acrobot solved by genetic programming. In: Research and Development in Intelligent Systems XXIX. Springer London, pp. 229-242. 9781447147381. (doi:10.1007/978-1-4471-4739-8)

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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
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Item Type: Book Section
Research Areas: A. > School of Science and Technology > Computer Science
Item ID: 17065
Useful Links:
Depositing User: Barry Nichols
Date Deposited: 24 Jun 2015 14:58
Last Modified: 30 Apr 2019 08:14
ISBN: 9781447147381
URI: https://eprints.mdx.ac.uk/id/eprint/17065

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