Implementation of a Neural Network Controller on a DSP for Controlling an Inverted Pendulum System on an X-Y Plane

This paper presents the hardware implementation of a neural network controller for controlling an inverted pendulum system on an x-y plane robot. The inverted pendulum system can move on an x-y plane while balancing the angle of the pendulum. Neural network algorithm is implemented on a cost effective DSP board in association with an FPGA chip. The reference compensation technique of neural network control scheme is used for on-line learning and control of the inverted pendulum system. Experimental results of tracking the circular trajectory while balancing the pendulum demonstrate to confirm the successful performance of the neural network hardware.