Self-Tuning Neuro-PID for Stabilization of Double Inverted Pendulum
Yoshiyuki Kishida, Sigeru Omatu and Michifumi Yoshioka
Department of Computer and Systems Sciences, College of Engineering, Osaka Prefecture University, Sakai, Osaka 599-8531, Japan
Received:June 1, 1998Accepted:August 6, 1998Published:October 20, 1998
Keywords:Neural network, PID controller, Inverted Pendulum
This paper covers a new self-tuning neuro-PID control architecture and its application to stabilization of single and double inverted pendulums. Single-Input multioutput controls the inverted pendulum using the PID controller. PID gains are tuned using two types of neural networks. Simulation results demonstrate the effectiveness of the proposed approach.
Cite this article as:Y. Kishida, S. Omatu, and M. Yoshioka, “Self-Tuning Neuro-PID for Stabilization of Double Inverted Pendulum,” J. Robot. Mechatron., Vol.10 No.5, pp. 439-444, 1998.Data files: