  We develop autonomous agents fighting with each other, inspired by human
wrestling. For this purpose, we propose a coupled inverted pendula (CIP)
framework in which: 1) tips of two inverted pendulums are linked by a
connection rod, 2) each pendulum is primarily stabilized by a PD-controller, 3)
and is additionally equipped with an intelligent controller. Based on this
framework, we dynamically formulate an intelligent controller designed to store
dynamical correspondence from initial states to final states of the CIP model,
to receive state vectors of the model, and to output impulsive control forces
to produce desired final states of the model. Developing a quantized and
reduced order design of this controller, we have a practical control procedure
based on an off-line learning method. We then conduct numerical simulations to
investigate individual performance of the intelligent controller, showing that
the performance can be improved by adding a delay element into the intelligent
controller. The result shows that the performance depends not only on
quantization resolutions of learning data but also on delay time of the delay
element. Finally, we install the intelligent controllers into both pendulums in
the proposed framework to demonstrate autonomous competitive behavior between
inverted pendulums.
