ICMAME 2023 Conference Proceedings

Paper No: 403
Paper Title: Soft Actor Critic Swing Up of a Real Inverted Pendulum on a Cart

Raniero Humberto Calderon Electronics Engineering, Universidad Mayor de San Andres, La Paz, Bolivia

The inverted pendulum, is a classical experiment widely used as a benchmark for research in control systems, due to its challenging dynamics. In this paper, Deep Reinforcement Learning is used to control a real inverted pendulum on a cart. The Soft Actor Critic algorithm with automatic entropy tuning is used to train an agent capable of acting as a controller. The agent is trained on real data collected on an episodic basis and learns to carry out the swing up control task successfully.

Keywords: Proportional Integral Derivative (PID), Swarm Intelligence (SI), Renewable Energy (RE), Statistical Analysis

Conference Venue: Mövenpick Hotel & Apartments Bur Dubai, Dubai-UAE
Conference Date: 29-30 April 2023

ISBN Number: 978-625-00-1526-1
DOI Number:

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