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Please use this identifier to cite or link to this item: http://repository.iitr.ac.in/handle/123456789/16851
Title: Adaptive optimal control of nonlinear inverted pendulum system using policy iteration technique
Authors: Prasad L.B.
Gupta H.O.
Tyagi, Barjeev
Published in: Proceedings of IFAC Volumes (IFAC-PapersOnline)
Abstract: This paper presents the adaptive optimal control of nonlinear inverted pendulum-cart dynamic system using policy iteration technique based adaptive critic scheme. Inverted pendulum is a highly nonlinear unstable system which is used as a benchmark for implementing the control methods. The optimal control design using Hamilton-Jacobi-Bellman (HJB) equation requires the complete knowledge of the system dynamics with an offline solution. Policy iteration technique which is based on actor-critic structure consists of two-step iteration: policy evaluation and policy improvement. The online policy iteration technique gives online continuous-time adaptive optimal control solution without using the complete knowledge of the system's internal dynamics. In this paper the state regulation control problem of cart position control and stabilization of inverted pendulum in vertically upright position is considered. The simulation results justify the effectiveness of the control scheme. © 2014 IFAC.
Citation: Proceedings of IFAC Volumes (IFAC-PapersOnline), (2014), 1138- 1145. Kanpur
URI: https://doi.org/10.3182/20140313-3-IN-3024.00144
http://repository.iitr.ac.in/handle/123456789/16851
Issue Date: 2014
Publisher: IFAC Secretariat
Keywords: Actor-critic
Adaptive optimal control
Inverted pendulum
Policy iteration technique
ISSN: 14746670
Author Scopus IDs: 54960247000
24530497600
7005609418
Author Affiliations: Prasad, L.B., Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee (Uttarakhand) - 247667, India
Gupta, H.O., Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee (Uttarakhand) - 247667, India
Tyagi, B., Department of Electrical Engineering, Indian Institute of Technology Roorkee, Roorkee (Uttarakhand) - 247667, India
Appears in Collections:Conference Publications [EE]

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