Abstract:
This study presents the design of the decoupled neural network reference
compensation technique (DNNRCT). The technique is applied to the control of a
two degrees-of-freedom inverted pendulum mounted on an x-y table. Neural
networks are used as auxiliary controllers for both the X axis and Y axis of the PD
controlled inverted pendulum. The DRCT method is used to compensate for
uncertainties at the trajectory level and used to control both the angle of a pendulum
and the position of a cart simultaneously.
