Automatic Generation of Nonlinear Optimal Control Laws
for Broom Balancing using Evolutionary Programming
Proceedings of the 1998 IEEE World Congress on
Computational Intelligence, page 195--200. Anchorage, Alaska, USA, IEEE Press, (5-9 May 1998)Abstract
This paper explores the use of mutation operators with
evolutionary programming (EP) to automatically generate
time optimal "bang-bang" type control laws for the
three dimensional broom balancing (inverted pendulum)
problem. EP produces a time optimal nonlinear control
strategy that takes the state variables as input and
determines the direction of the "bang-bang" force
to be applied. Preliminary results indicate that the
control laws generated are capable of generalizing over
previously unseen input states and compare well with
nonlinear control laws that were generated using other
evolutionary computation methods.