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Información general |
| Autor |
Gómez, Mariano; Arribas, Tomás; Sánchez, Sebastián |
| Publicado |
InTech Open Access Publisher, 2012
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| Edición |
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| Abstract |
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 implementing
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. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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