Down-down to down-up control of a circular-rail double inverted pendulum with human simulated intelligent control

Yuanhong Dan; Zushu Li; Zhi Tan

doi:10.1117/12.784229

7 January 2008 Down-down to down-up control of a circular-rail double inverted pendulum with human simulated intelligent control

Yuanhong Dan, Zushu Li, Zhi Tan

Author Affiliations +

Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67940K (2008) https://doi.org/10.1117/12.784229
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan

Abstract

20 years has passed since the prototype algorithm of Human Simulated Intelligent Control (HSIC) was brought out in 1979. A basic HSIC theory system and the systematical design method have formed, and successfully applied in many fields, especially in the nonlinear control of a Double Pendulum System. A Multi-Pendulum System (MPS) is a typical nonlinear, multi-variable, strong-coupled and under-actuated, complex system. The study on a MPS has been a hotspot in the field of automation control. The successful application of HSIC in swing-up and handstand control on a DPS adequately testified the validity of HSIC theory. This paper will focus on two topics: (1) structural design of controller for swinging up a circular-rail double pendulum (CDP) form its down-down equilibrium position to down-up equilibrium position (DD2DU); (2) real-time adjustment of controller parameters.

Citation Download Citation

Yuanhong Dan, Zushu Li, and Zhi Tan "Down-down to down-up control of a circular-rail double inverted pendulum with human simulated intelligent control", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940K (7 January 2008); https://doi.org/10.1117/12.784229

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