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

Mariano Gómez, Tomás Arribas, Sebastián Sánchez
2012 International Journal of Advanced Robotic Systems  
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
more » ... ing 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.
doi:10.5772/54658 fatcat:asws5d22gvgjjd2v4qrih5cfpy