On control of a base-excited inverted pendulum using neural networks (Q5950722)

The authors present a neural-network-based control technique for stabilizing a base-excited inverted pendulum. The pendulum has two rotational degrees of freedom, and the base point moves freely in the three-dimensional space. The goal is to apply control torques to keep the pendulum in a prescribed position in spite of disturbing base-point movements. The authors construct an appropriate neural controller, and investigate stability of the control system in the presence of approximation errors of neural networks.