Research of UD2UU with human simulated intelligent control for a double inverted pendulum |
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| Authors: | DAN Yuan hong LI Zu shu ZHANG Xiao chuan and TAN Zhi |
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| Institution: | Institute of Intelligent Automation, Chongqing University, Chongqing 400044, P. R. China; Institute of Artificial Intelligence System, Chongqing University of Technology, Chongqing 400054, P. R. China;Institute of Intelligent Automation, Chongqing University, Chongqing 400044, P. R. China; Institute of Artificial Intelligence System, Chongqing University of Technology, Chongqing 400054, P. R. China;Institute of Artificial Intelligence System, Chongqing University of Technology, Chongqing 400054, P. R. China;Institute of Intelligent Automation, Chongqing University, Chongqing 400044, P. R. China; Institute of Artificial Intelligence System, Chongqing University of Technology, Chongqing 400054, P. R. China |
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| Abstract: | Double pendulum has four equilibrium points (down down, down up, up down, and up up). Twelve transfer actions and eight spin actions can be formed with these equilibrium points. One of the transfer action, up down to up up (UD2UU) with human simulated intelligent control (HSIC) theory based on sensor motor intelligent schema is studied. Control system designed by HSIC has following advantages: hierarchic control architecture with multi controller and multi control mode; hybrid control law combining close loop and open loop control as well as positive feedback and negative feedback control; associating schema based on characteristic model which takes charge of switch between each control mode. The design process of HSIC controller for UD2UU is discussed. The real time control results demonstrate the validation of the proposed theory and method. |
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| Keywords: | inverted pendulum UD2UU human simulated intelligent control multi mode control |
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