Known sufficient condition for stabilization of the controlled inverted pendulum under stochastic perturbations is improved via V.Kolmanovskii and L.Shaikhet general method of Lyapunov functionals construction.

−Inverted Pendulum is a well established benchmark problem that produces many challenges to a control engineer. It is a nonlinear, unstable, non minimumphase and under actuated system.Itrequires a controller which canadapt in different disturbance conditions and work appreciably well when compared to conventional controllers. In this paper Interval type-2 Fuzzy logic controllerfor inverted pend...

This paper presents a modification of the deep Q-network (DQN) in reinforcement learning to control angle inverted pendulum (IP). The original DQN method often uses two actions related force states like constant negative and positive values which apply cart IP maintain between Y-axis. Due changing too much value force, may make some oscillation makes performance system could be declined. Thus, ...

In this study, a multi-objective artificial bee colony (MOABC) optimization algorithm was utilized to improve the performance of an adaptive robust control technique. This approach is implemented using inverted pendulum system. More precisely, proposed controller combination decoupled sliding-mode (DSMC) and adaptation laws based on gradient descent approach. To achieve optimum operation, MOABC...

The rotary inverted pendulum system was a highly nonlinear model, multivariable and absolutely unstable dynamic system. This paper presents hybrid control method for swing up and LQR control method for the stabilization. The flexibility of the hybrid control method based on the selection of heuristic swing up controller and energy swing up controller at the different positions of pendulum. The ...

Reinforcement learning has been active research area not only in machine learning but also in control engineering, operation research and robotics in recent years. It is a model free learning control method that can solve Markov decision problems. Q-learning is an incremental dynamic programming procedure that determines the optimal policy in a step-by-step manner. It is an online procedure for...

In order to realize the stability control of the planar inverted pendulum system, which is a typical multi-variable and strong coupling system, a new fuzzy-evidential controller based on fuzzy inference and evidential reasoning is proposed. Firstly, for each axis, a fuzzy nine-point controller for the rod and a fuzzy nine-point controller for the cart are designed. Then, in order to coordinate ...

The adaptive backstepping controller for inverted pendulum is designed by using the general motion control model. Backstepping is a novel nonlinear control technique based on the Lyapunov design approach, used when higher derivatives of parameter estimation appear. For easy parameter adaptation, the mathematical model of the inverted pendulum converted into the motion control model. This conver...