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Swing up and balance control of the acrobot solved by genetic programming

Dracopoulos, Dimitris and Nichols, Barry D. (2012) Swing up and balance control of the acrobot solved by genetic programming. In: Bramer, M. and Petridis, M., (eds.) Research and Development in Intelligent Systems XXIX: Incorporating Applications and Innovations in Intelligent Systems XX Proceedings of AI-2012, The 32nd SGAI International Conference on Innovative Techniques & Applications of Artificial Intelligence. Springer Verlag, London, pp. 229-242. ISBN 9781447147381

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Official URL: http://dx.doi.org/10.1007/978-1-4471-4739-8_19


The evolution of controllers using genetic programming is described for the continuous, limited torque minimum time swing-up and inverted balance problems of the acrobot. The best swing-up controller found is able to swing the acrobot up to a position very close to the inverted ‘handstand’ position in a very short time, which is comparable to the results which have been achieved by other methods using similar parameters for the dynamic system. The balance controller is successful at keeping the acrobot in the unstable, inverted position when starting from the inverted position.

Item Type:Book Section
Research Community:University of Westminster > Electronics and Computer Science, School of
ID Code:10981
Deposited On:30 Jul 2012 16:28
Last Modified:14 May 2013 12:57

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