کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Swing-up Control of a Double Inverted Pendulum by Combination of Q-Learning and PID Algorithms

نویسندگان :

Ahmad Zeynivand¹ Hoda Moodi²

1- Tarbiat Modares University 2- Quchan University of Technology

کلمات کلیدی :

.Double Inverted Pendulum،Swing up،Reinforcement Learning،Q-Learning and PID

چکیده :

The double inverted pendulum is a nonlinear system, with unstable balance and rapid response. When two pendulums are allocated vertically and there is no movement, the system is stable. In this article, we propose a control mechanism based on reinforcement learning. By implementing the Q-Learning techniques beside the PID control scheme, the system can improve its performance and balance. In the first step, the Q-Learning algorithm is used to balance the pendulum to its inverted vertical position. In the second step, the Q-Learning algorithms is combined with classical PID, to balance the double inverted pendulum and perform swing up control. Finally, simulation results showed the effectiveness of the proposed controller

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