Rotary Inverted Pendulum Control Using Single Neuron With Weights of PID Parameters

PID 계수를 가중치로 가진 단일뉴런을 이용한 Rotary Inverted Pendulum 제어

In this paper, we Proposed the inverted pendulum control method using single neuron neural network that have weights as PID parameters. The proposed method has three inputs(proportion, integration, differentiation term of the error), and uses weights as P, I, D parameters. In order to verify the effectiveness of the proposed method, we experimented on the rotary inverted pendulum with load effect disturbance. The results showed the effectiveness and robustness of the proposed pendulum controller.