Optimal Control of Inverted Pendulum Based on Two Pid and Lqr Arrangement and Improved Bp Neural Network
نویسنده
چکیده
BP Neural Network has a longer training time and a slow convergence. To deal with the defects of BP Neural Network a modified BP algorithm is proposed in the paper. The algorithm is applied for the control of Inverted Pendulum, a highly non linear system inherently being open loop unstable. Levenberg-Marquardt algorithm is used for the training purpose. The training samples are being collected by a two PID and one LQR arrangement. The simulation results prove that the modified BP algorithm for inverted pendulum control gives better efficiency, lesser training time and faster convergence. Keywords— Artificial Neural networks, Inverted Pendulum, Modified Back Propagation Algorithm, PID, LQR
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