Swinging-up and handstand-control of cart-double-pendulum system and experiment analysis

摘要

Studied the control problem concerning the swinging-up and handstand-control of the cart-double-pendulum system (CDPS, a typical under-actuated, unsteady and nonlinear system) based on the Human-Simulated Intelligent Control (HSIC) theory. By analyzing the movement of CDPS and simulating the Human controller, designed the Sensory-motor Intelligent Schemas of HSIC controller for the CDPS. In the swinging-up process, the HSIC controller perceives the coupled motion of two pendulums and uses the multi-mode control strategy based on characteristic identification, to keep the angle and movement between the two linked pendulums minimum all the time. The double-pendulum then becomes a /spl square/uasi-cart-single-pendulum? Simulation and actual experiments successfully proved the validity of the above method.