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Generating Equations with Genetic Programming for Control of a Movable Inverted Pendulum

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Simulated Evolution and Learning (SEAL 1998)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 1585))

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Abstract

Equations for calculating the control force of a movable inverted pendulum are generated directly with Genetic Programming (GP). The task of a movable inverted pendulum is to control the force given a cart on which a pole is hinged, not only to keep a pole standing but also to move it to an arbitrary target position.

As the results of experiments, intelligent control equations are obtained that can lean the pole toward a target position by pulling the cart in the opposite direction, and then move the cart to the target while keeping the pole standing inversely. They also have the robustness to move the cart with the pole standing to the new target position when the target is changed, even if the cart is moving to the old target position.

The robustness of the problem is experimentally defined and the appropriate value of the parsimony factor in GP is identified to obtain control equations with robustness and simplicity as the solutions.

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Author information

Authors and Affiliations

  1. Department of Applied Mathematics and Informatics Faculty of Science and Technology, Ryukoku University, 1-5 Yokoya, Ooe, Seta, Ohtsu, Shiga, 520-2194, Japan

    Hiroaki Shimooka & Yoshiji Fujimoto

Authors
  1. Hiroaki Shimooka
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  2. Yoshiji Fujimoto
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Editor information

Editors and Affiliations

  1. School of Computer Science, University College, UNSW Australian Defence Force Academy, Canberra, ACT, Australia, 2600

    Bob McKay , Xin Yao  & Charles S. Newton ,  & 

  2. Department of Electrical Engineering Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-gu, Taejon-shi, 305-701, Korea

    Jong-Hwan Kim

  3. Department of Information Electronics, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8603, Japan

    Takeshi Furuhashi

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© 1999 Springer-Verlag Berlin Heidelberg

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Shimooka, H., Fujimoto, Y. (1999). Generating Equations with Genetic Programming for Control of a Movable Inverted Pendulum. In: McKay, B., Yao, X., Newton, C.S., Kim, JH., Furuhashi, T. (eds) Simulated Evolution and Learning. SEAL 1998. Lecture Notes in Computer Science(), vol 1585. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-48873-1_24

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  • DOI: https://doi.org/10.1007/3-540-48873-1_24

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-65907-5

  • Online ISBN: 978-3-540-48873-6

  • eBook Packages: Springer Book Archive

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