TY - JOUR
T1 - Reinforcement Learning Compensation based PD Control for a Double Inverted Pendulum
AU - Puriel Gil, Guillermo
AU - Yu, Wen
AU - Sossa, Humberto
N1 - Publisher Copyright:
© 2003-2012 IEEE.
PY - 2019/2
Y1 - 2019/2
N2 - In this paper, we present a Control Algorithm based on Reinforcement Learning for a double inverted pendulum on a cart. By implementing the Q-Learning techniques in the PD control scheme, the second pendulum (top pendulum) is enabled to improve its performance. In a first step, Q-Learning is used so that the control can balance the second pendulum towards its inverted vertical position, while the first pendulum has no restrictions on its movement and also the car remains in a range of ±1 meter in its displacement. In a second step, we combine hybrid techniques of Q-Learning and PD control, in a system that has had changes in its parameters and in its initial conditions. Then, with the hybrid control, we obtain better results than using the controllers individually. Finally, the simulation results show the effectiveness of the proposed controller.
AB - In this paper, we present a Control Algorithm based on Reinforcement Learning for a double inverted pendulum on a cart. By implementing the Q-Learning techniques in the PD control scheme, the second pendulum (top pendulum) is enabled to improve its performance. In a first step, Q-Learning is used so that the control can balance the second pendulum towards its inverted vertical position, while the first pendulum has no restrictions on its movement and also the car remains in a range of ±1 meter in its displacement. In a second step, we combine hybrid techniques of Q-Learning and PD control, in a system that has had changes in its parameters and in its initial conditions. Then, with the hybrid control, we obtain better results than using the controllers individually. Finally, the simulation results show the effectiveness of the proposed controller.
KW - Double Inverted Pendulum
KW - Q-Learning
KW - Reinforcement Learning
UR - http://www.scopus.com/inward/record.url?scp=85073334159&partnerID=8YFLogxK
U2 - 10.1109/TLA.2019.8863179
DO - 10.1109/TLA.2019.8863179
M3 - Artículo
AN - SCOPUS:85073334159
SN - 1548-0992
VL - 17
SP - 323
EP - 329
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 2
M1 - 8863179
ER -