DocumentCode
2553078
Title
Human simulated intelligence motion control for a three-link acrobot
Author
Xue, Fangzheng ; Hou, Zhicheng ; Hu, Yang ; Liu, Chengjun
Author_Institution
Coll. of Autom., Chongqing Univ., Chongqing, China
fYear
2011
fDate
21-25 June 2011
Firstpage
844
Lastpage
848
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.
Keywords
PD control; bang-bang control; intelligent control; mobile robots; motion control; Bang-Bang control; PD controller; human simulated intelligence motion control; sensory-motor intelligence schema; swing-up controller; three-link acrobot; Acceleration; Hip; Humans; Joints; PD control; Process control; Torque; Acrobot; Human-simulated Intelligent Control; Sensory-motor schema; Swing-up;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location
Taipei
Print_ISBN
978-1-61284-698-9
Type
conf
DOI
10.1109/WCICA.2011.5970634
Filename
5970634
Link To Document