Swing Up and Stabilization Intelligent Control of Double Inverted Pendulum Based on Human Operating Knowledge

Abstract

A control based on human operating knowledge is flexible and good for the nonlinear system. However, it is difficult to incorporate human control into controller. In this paper, we acquire operating knowledge by constructing a model on computer and operating at extended simulation-time and develop an intelligent controller based on human operating knowledge. This development method is applied to the double pendulum which is an unstable nonlinear system. The effectiveness of this method was confirmed by experiments.