Cart-double Pendulum Swing-up And Balancing Via Human Simulating Intelligent Control

Inverted pendulum system (IPS) is a type of typical complex hard-control system. The research on it can be representative of that on a nonlinear, InLlltivariahle, absolute unstable system. The method and thought for controlling it is very useful to the control theory and process control. It can check control theories and methods effectively. Now there are many achievements concerning about the stabilizing control of IPS at the upright position with intelligent controlling method. But few about swing-up and stabilizing control of the cati-double pendulum system, which there is strong nonlinear on it and powerful coupling between cart and double pendulum.This paper deals with swing-up and stabilizing control of the cart-doubled pendulum system. Under the guidance of by Human Simulating Intelligent Control (HSIC) theory, we studied the control characteristics for cart-double pendulum system. Consequently the utilization of human's "motion" intelligence with careful observation and summarization of human's intelligent behavior can surely help us find out some simple and feasible ways for the control of cart-doubled pendulum system. The simulation results reveal that lISlC is really applicable for the nonlinear multivariable system and the intelligent analysis method is a really feasible routine in the nonlinear rnultivariable situations.