The Up-Down giant-circle movement control of cart-double pendulum using HSIC

The Up-Down giant-circle movement control of cart-double pendulum system (CDPS) is that the inner and outer rods rotate around the rotating arm in a approximate single pendulum way from the initial position (Up-Down) by controlling the rotating arm move back and forth horizontally and then return to the initial state and keep balance. In this paper, Human Simulated Intelligent Control (HSIC) is used to design the controller, that the whole control process is divided into four phase: the initial movement phase, the attitude adjustment phase, energy consumed phase and the balance control phase. Then, the corresponding control law (sensor-motor intelligent schema) is designed for each of the four phases. The effectiveness of this method is proved in the simulation experiment.