双摆杂技机器人DD2UD的多模态混合控制

Multi-mode Hybrid Control of DD2UD on Double Pendulum Robot

双摆杂技机器人的原型为旋转二级倒立摆,作为典型的非线性欠驱动多刚体被控对象,控制难度极大。针对双摆杂技机器人的DD2UD(摆杆从Down-Down平衡态转换到UpDown平衡态)杂技动作,将控制任务分解为5个子任务:初始扰动、双杆起摆控制、推拉起摆控制、外杆调整阶段、Up-Down稳定控制。根据各个子任务的控制目标结合动力学分析,设计出各子任务的控制律,构成多模态控制器结构,并在实际设备上进行实时控制实验以验证相关控制算法的有效性。

The prototype of double pendulum robot is rotary double inverted pendulum,which is a typical nonlinear under-actuated controlled device. To realize the acrobatics of DD2UD（transfer action from Down-Down equilibrium point to Up-Down equilibrium point）on double pendulum robot,the control process is divided into five control phase：initial disturbance,swing-up both rods,pull and push control,adjustment of outer rod,Up-Down balance control. By kinetic analysis,each sub-controller is designed according to the control target of corresponding phase. Finally,a multimode controller is constructed,and its validity is testified thorough real-time experiment on double pendulum robot.