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In this paper, experimental studies of a decentralized neural network control scheme of the reference compensation technique applied to control a 2-degrees-of-freedom (2-DOF) inverted pendulum on an x-y plane are presented. Each axis is controlled by two separate neural network controllers to have a decoupled control structure. Neural network controllers are applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. The decoupled control structure can compensate for uncertainties and cancel coupling effects. Especially, a circular trajectory tracking task is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental result shows that position control of the inverted pendulum and cart is successful.
Date of Publication: July 2007