Back in the dark ages (early 90s), we'd use much smaller neural networks because our computers were about what you have there as the microcontroller. It's a whole new game now with all of these tools. Will be fun to play with, that's for sure.
I can imagine that the allowable latency is a function of the natural time-constant of the system. If you are having issues with fine-tuning the latency, would you consider (as a proof-of-concept) to slow-down the natural system? To achieve this, you could, for example, reduce the eccentricity of the pendulum, while keeping the moment-of-inertia constant. To slow it down 4x, you might need to increase the inertia 16x . A pragmatic way to achieve this would be to add a counterweight against the pendulum, so the mass (inertia) increases, but the restoring-force decreases. It would still be an "inverted" pendulum, only far less aggressive.
Very cool you were able to get these results. Getting RL to work on real hardware is notoriously difficult.
Back in the dark ages (early 90s), we'd use much smaller neural networks because our computers were about what you have there as the microcontroller. It's a whole new game now with all of these tools. Will be fun to play with, that's for sure.
Shawn how do you know everything?! Its very cool to be this master and not fair at the same time
I can imagine that the allowable latency is a function of the natural time-constant of the system. If you are having issues with fine-tuning the latency, would you consider (as a proof-of-concept) to slow-down the natural system? To achieve this, you could, for example, reduce the eccentricity of the pendulum, while keeping the moment-of-inertia constant. To slow it down 4x, you might need to increase the inertia 16x . A pragmatic way to achieve this would be to add a counterweight against the pendulum, so the mass (inertia) increases, but the restoring-force decreases.
It would still be an "inverted" pendulum, only far less aggressive.
Wow, fantastic project. I wonder if a NN training a fuzzy logic controller might work better.
🎉
Is the current limit on the stepper driver set too high?
They potentiometer of the driver of the steper motor