基于强化学习的倒立摆控制系统设计

ABSTRACTThere are many classic problems in complex system control,the inverted pendulum is oneof them.The inverted pendulum system is an absolutely unstable system with nonlinear andmultivariable properties.In the control process,the inverted pendulum system is also one of theideal models to verify various control theories.It can reflect such problems as stability,robustness and follow -up.Since modern times,the inverted pendulum system has been widelyused in our life.Satellite operation,robot walking and so on are the use of the inverted pendulumsystem stability control examples.Obviously,the research of inverted pendulum has profoundtheoretical significance and important engineering significance.In this project,we will take the relevant learning content in the four years of college as thebasis,take reinforcement learning as the research object,and take the inverted pendulum systemas the experimental model to conduct systematic scientific experimental research.We will studythe balance control of a one-arm inverted pendulum to make the system capable of learning andacquire new contents and information in the process of operation,with the movement controlskills similar to those of living creatures.Based on reinforcement learning and Python language,this paper proposes a reinforcement learning system based on Q learning.We used Pycharm tocarry out experimental simulation and proved that the proposed reinforcement learning systemhas the ability of balance control skills of the cognitive inverted pendulum system.Keywords reinforcement learning,Q learning algorithm,inverted pendulum system