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.
ISBN 9781447147381.
[Book Section]
(doi:10.1007/978-1-4471-4739-8)
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
Download PDF (402KB)
| 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 |
| URI: | https://eprints.mdx.ac.uk/id/eprint/17065 |
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