Modeling of Inverted Pendulum on a Cart by Using Artificial Neural Networks

被引：0

作者：

Korkmaz, Deniz ^{[1
]}

Bal, Cafer ^{[2
]}

Gokbulut, Muammer ^{[3
]}

机构：

[1] Firat Univ, Elekt & Bilgisayar Egitimi Bolumu, Elazig, Turkey

[2] Firat Univ, Mekatron Muhendisligi Bolumu, Elazig, Turkey

[3] Firat Univ, Elekt & Elekt Muhendisligi Bolumu, Elazig, Turkey

来源：

2015 23RD SIGNAL PROCESSING AND COMMUNICATIONS APPLICATIONS CONFERENCE (SIU) | 2015年

关键词：

inverted pendulum; artificial neural networks; lagrange method; nonlinear modeling;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

In this study, mathematical model of the single bar inverted pendulum on a cart, which exhibits similar behavior to the dynamics of a robotic arm, is derived by using Lagrange method. At the same time, nonlinear model of the inverted pendulum is simulated in MATLAB environment by using Multilayer Artificial Neural Networks (MANN). MANN is trained by back propagation learning algorithm and dynamic NARX network model is selected for MANN. This model is the basis for dynamics of the robotic arm.

引用

页码：2642 / 2645

页数：4

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