Swinging up the acrobot: an example of intelligent control

Gerald DeJong, Mark W. Spong

Research output: Contribution to journalConference articlepeer-review


In our approach intelligent control integrates symbolic reasoning of artificial intelligence (AI) into the control procedure. We describe how this can be accomplished by a straightforward abstraction of the conventional notion of the control model. We apply the techniques to the problem of swing-up control of the acrobot. The resulting Explanation-Based Control strategy is compared with two more-conventionally-derived control strategies. We briefly discuss the strengths and weaknesses of the new approach.

Original languageEnglish (US)
Pages (from-to)2158-2162
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Dec 1 1994
EventProceedings of the 1994 American Control Conference. Part 1 (of 3) - Baltimore, MD, USA
Duration: Jun 29 1994Jul 1 1994

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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