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Document type:
Konferenzbeitrag 
Contribution type:
Textbeitrag / Aufsatz 
Author(s):
Dengler, C.; Lohmann, B. 
Title:
Neural network position and orientation control of an inverted pendulum on wheels 
Abstract:
In this contribution, we develop a feedback controller for a wheeled inverted pendulum in the form of a neural network that is not only stabilizing the unstable system, but also allows the wheeled robot to drive to arbitrary positions within a certain radius and take a desired orientation, without the need to compute a feasible trajectory to the desired position online. While some techniques from the reinforcement learning community can be used to optimize the parameters of a general feed...    »
 
Dewey Decimal Classification:
620 Ingenieurwissenschaften 
Book / Congress title:
International Conference on Advanced Robotics (19´th.) 
Date of congress:
2-6.12.2019 
Year:
2019 
Quarter:
4. Quartal 
Year / month:
2019-12 
Month:
Dec 
Reviewed:
ja 
Language:
en 
TUM Institution:
Lehrstuhl für Regelungstechnik