The Symmetry of Cart-Pole System and A Table Look-Up Control Technique

운반차-막대 시스템의 대칭성과 Table Look-Up 제어 기법

  • 권성규 (계명대학교 기계자동차공학부)
  • Received : 2003.09.19
  • Accepted : 2004.05.29
  • Published : 2004.06.25


The control laws for cart-pole system are studied to see the schemes on which the control laws are made. Also, the odd symmetry of the relation between the output of the control laws and the system state vector is observed. Utilizing the symmetry in quantizing the system state variables and implementing the control laws into look-up table is discussed. Then, a CMAC is trained for a nonlinear control law for a cart-pole system such that the symmetry is conserved and its learning performance is evaluated. It is found that utilizing the symmetry is to reduce the memory requirement as well as the training period while improving the learning quality in terms of preserving the symmetry.