二级倒立摆DU2UD的非线性控制研究

二级倒立摆的两根摆杆有4个平衡点：Down Down、Down Up、Up Down、Up Up。针对旋转二级倒立摆从Down Up平衡态转换到Up Down平衡态的大范围非线性欠驱动控制问题(DU2UD)，应用基于动觉智能图式的仿人智能控制理论，将DU2UD控制任务分解为初始扰动、摆起控制、姿态整定、稳摆控制4个子任务，并设计出各自关联图式、运动图式(控制器)，构成多控制器与多控制模态的仿人智能控制器结构，并进行了实时控制实验，验证了所述方法的有效性。

Research on Nonlinear Control of Double Inverted Pendulum DU2UD

Double inverted pendulum has four equilibrium points:Down-Down,Down-Up,Up-Down and Up-Up.To solve the nonlinear under-actuated control task of transfer from Down-Up equilibrium point to Up-Down equilibrium point (DU2UD),human simulated intelligent control (HSIC) theory is applied.The control process of DU2UD is divided into four phases:initial disturbance,swing up control from downward to upward,posture adjustment,and balance control at up-down equilibrium point.Sub-controller for each control phase is designed.With those sub-controllers,a control system which has structure of multi-controller and multi-control-mode is formed.The result of real-time control experiment testifies the validity of proposed method.