Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu
{"title":"Human simulated intelligence motion control for a three-link acrobot","authors":"Fangzheng Xue, Zhicheng Hou, Yang Hu, Chengjun Liu","doi":"10.1109/WCICA.2011.5970634","DOIUrl":null,"url":null,"abstract":"A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2011 9th World Congress on Intelligent Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2011.5970634","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.
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