拟人控制平行单级双倒立摆

Stabilization of Parallel-type Inverted Pendulum Based on Human-imitating Control

提出从物理角度出发,分析被控系统并设计控制器的观点,并在介绍基于物理模型的拟人智能控制框架的基础上,以平行单级双倒立摆的稳定控制为例说明了拟人智能控制的应用过程,最后将实验结果与滑模控制平行单级双倒立摆的实验结果进行了对比。

The notion of analyzing and synthesizing systems to be controlled from the viewpoint of physics is proposed in this paper. Firstly the human-imitating intelligent control theory based on physical models is pres ented, then its detailed application to stabilizing the parallel type inverted pendulum is introduced. At last, both the experiment results of human-imitating control and slide mode control are given, and the conclusion al so is derived from the comparison.