Optimal Control Based on CACM-RL in a Two-Wheeled Inverted Pendulum

[摘要] This work aims to present a new optimal control scheme based on the CACM-RL technique applied tounstable systems such as a Two-Wheeled Inverted Pendulum (TWIP). The main challenge in this work is to verify and validate the good behaviour of CACM-RL in this kind of system. Learning while maintaining the equilibrium is a complex task. It is easy in stable platforms because the system never reaches an unstable state, but in unstable systems it is very difficult. The study also investigates implementing CACM-RL to coexist with a classic control solution. The results show that the proposed method works perfectly in unstable systems, providing better results than a PID controller.

[学科分类] 自动化工程

[关键词] Decentralized control;High-Order Neural Networks;Extended Kalman Filter;Backstepping