Stabilization of Double Inverted Pendulum with Self-Tuning Neuro-PID

Toru Fujinaka; Yoshiyuki Kishida; Michifumi Yoshioka; Sigeru Omatu

doi:10.1109/IJCNN.2000.860795

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Neural Networks, IEEE - INNS - ENNS International Joint Conference on

Stabilization of Double Inverted Pendulum with Self-Tuning Neuro-PID

Year: 2000, Volume: 5, Pages: 4345

DOI Bookmark: 10.1109/IJCNN.2000.860795

Authors

Toru Fujinaka, Osaka Prefecture University
Yoshiyuki Kishida, Osaka Prefecture University
Michifumi Yoshioka, Osaka Prefecture University
Sigeru Omatu, Osaka Prefecture University

Abstract

New self-tuning neuro-PID control architecture is proposed and applied to the stabilization of double inverted pendulum. The gain parameters of the PID controller are tuned using a neural network. The effectiveness of the proposed method is shown through simulation and experiment.

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