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
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;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2011 9th World Congress on
Conference_Location :
Taipei
Print_ISBN :
978-1-61284-698-9
DOI :
10.1109/WCICA.2011.5970634
