Genetic Algorithm and Particle Swarm Optimization Techniques for Inverted Pendulum Stabilization

Abstract

Inverted Pendulum is a popular non-linear, unstable control problem where implementation of stabilizing the pole angle deviation, along with cart positioning is done by using novel control strategies. Soft computing techniques are applied for getting optimal results. The evolutionary computation forms the key research area for adaptation and optimization. The approach of finding optimal or near optimal solutions to the problem is based on natural evolution in evolutionary computation. The genetic algorithm is a method based on biological evolution and natural selection for solving both constrained and unconstrained problems. Particle swarm optimization is a stochastic search method inspired by collective behavior of animals like flocking of birds, schooling of fishes, swarming of bees etc. that is suited to continuous variable problems. These methods are applied to the inverted pendulum problem and their performance studied.