Explanation-Based Control of the Acrobot

Gerald DeJong

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

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