Share Email Print

Proceedings Paper

Down-down to down-up control of a circular-rail double inverted pendulum with human simulated intelligent control
Author(s): Yuanhong Dan; Zushu Li; Zhi Tan
Format Member Price Non-Member Price
PDF $14.40 $18.00
cover GOOD NEWS! Your organization subscribes to the SPIE Digital Library. You may be able to download this paper for free. Check Access

Paper 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.

Paper Details

Date Published: 7 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67940K (7 January 2008); doi: 10.1117/12.784229
Show Author Affiliations
Yuanhong Dan, Chongqing Institute of Technology (China)
Chongqing Univ. (China)
Zushu Li, Chongqing Institute of Technology (China)
Chongqing Univ. (China)
Zhi Tan, Chongqing Institute of Technology (China)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials

© SPIE. Terms of Use
Back to Top