Research of DD2UD with Human Simulating Intelligent Control for a Double Inverted Pendulum

A double pendulum has four equilibrium points (Down-Down, Down-Up, Up-Down, Up-Up). With those equilibrium points, many transfer actions from one equilibrium point to another can be formed. Using the Human Simulated Intelligent Control (HSIC) method based on Sensor-Motor Intelligent Schema, an intelligent control system for the double inverted pendulum which has the structure of multi controller and multi control mode is designed. With this controller, the transfer action of Down-Down to Up-Down (DD2UD) is achieved. The design process of HSIC controller is discussed. The real-time experiment result testified the validation of proposed method. (C) 2011 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of [CEIS 2011]