Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques
An acrobot is a planar robot with a passive actuator in its first joint. The main purpose of this system is to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up issue, when the robot has to rise itself by swinging up as a human...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2017-08-01
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| Series: | Inventions |
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| Online Access: | https://www.mdpi.com/2411-5134/2/3/16 |
| _version_ | 1819060136647327744 |
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| author | Gonzalo Mier Javier de Lope |
| author_facet | Gonzalo Mier Javier de Lope |
| author_sort | Gonzalo Mier |
| collection | DOAJ |
| description | An acrobot is a planar robot with a passive actuator in its first joint. The main purpose of this system is to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up issue, when the robot has to rise itself by swinging up as a human acrobat does, and the balancing issue, when the robot has to maintain itself in the inverted pendulum position. We have developed three controllers for the swing-up problem applied to two types of motors: small and large. For small motors, we used the State-Action-Reward-State-Action (SARSA) controller and the proportional–derivative (PD) controller with a trajectory generator. For large motors, we propose a new controller to control the acrobot—a pulse-width modulation (PWM) controller. All controllers except SARSA are tuned using a genetic algorithm. |
| first_indexed | 2024-12-21T14:22:12Z |
| format | Article |
| id | doaj.art-a0f710c97b5e4d61a8174e69c599e117 |
| institution | Directory Open Access Journal |
| issn | 2411-5134 |
| language | English |
| last_indexed | 2024-12-21T14:22:12Z |
| publishDate | 2017-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Inventions |
| spelling | doaj.art-a0f710c97b5e4d61a8174e69c599e1172022-12-21T19:00:45ZengMDPI AGInventions2411-51342017-08-01231610.3390/inventions2030016inventions2030016Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence TechniquesGonzalo Mier0Javier de Lope1Department of Artificial Intelligence, Faculty of Computer Science, Universidad Politécnica de Madrid, 28660 Madrid, SpainDepartment of Artificial Intelligence, Faculty of Computer Science, Universidad Politécnica de Madrid, 28660 Madrid, SpainAn acrobot is a planar robot with a passive actuator in its first joint. The main purpose of this system is to make it rise from the rest position to the inverted pendulum position. This control problem can be divided in the swing-up issue, when the robot has to rise itself by swinging up as a human acrobat does, and the balancing issue, when the robot has to maintain itself in the inverted pendulum position. We have developed three controllers for the swing-up problem applied to two types of motors: small and large. For small motors, we used the State-Action-Reward-State-Action (SARSA) controller and the proportional–derivative (PD) controller with a trajectory generator. For large motors, we propose a new controller to control the acrobot—a pulse-width modulation (PWM) controller. All controllers except SARSA are tuned using a genetic algorithm.https://www.mdpi.com/2411-5134/2/3/16acrobotartificial intelligenceSARSAPWMgenetic algorithm |
| spellingShingle | Gonzalo Mier Javier de Lope Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques Inventions acrobot artificial intelligence SARSA PWM genetic algorithm |
| title | Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques |
| title_full | Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques |
| title_fullStr | Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques |
| title_full_unstemmed | Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques |
| title_short | Control of the Acrobot with Motors of Atypical Size Using Artificial Intelligence Techniques |
| title_sort | control of the acrobot with motors of atypical size using artificial intelligence techniques |
| topic | acrobot artificial intelligence SARSA PWM genetic algorithm |
| url | https://www.mdpi.com/2411-5134/2/3/16 |
| work_keys_str_mv | AT gonzalomier controloftheacrobotwithmotorsofatypicalsizeusingartificialintelligencetechniques AT javierdelope controloftheacrobotwithmotorsofatypicalsizeusingartificialintelligencetechniques |