Swing-up And Handstand Control Of Cart Triple-Pendulum Based On Human-simulated Intelligent Control

The study of this kind of problem can be treated as the study of multivariable, nonlinear, under-actuated and absolutely unstable system. The development of control theory and strategies on CTPS could facilitate not only to the development of control theory but also to the real control technology in practice. Meanwhile, CMPS is considered to be a platform for verifying the correctness and validity of all kind of nonlinear control theory. Thus, CTPS was looked as a touchstone of many kind of control theories and strategies.We first deduced mathematic model of CTPS, and then its simulation model is constructed. According to this simulation model, we discussed the kinetic characteristics of CTPS. Under the guidance of human simulated intelligent control based on sensor-motor intelligent schema, the task of swing-up and handstand control of CTPS is divided into four subtasks(phase), and four schemas(sub-controllers) are designed respectively according to the kinetic target of each phase. Accomplishment of simulation testified the validity of control strategy we designed.When we attempt to accomplish real-time control, some obstacles appeared. After analysis, we find out that there are differences in physical parameters, driver and encoders between simulation system and real-time system. In order to eliminate these discrepancies, we build up a fast simulation model for physical parameters identification with genetic algorithm. And response characteristic of driver is also detected, so we can construct a simulation model of driver. Finally, we confirmed the influence of encoder's precision to quality of balance control, and this would be the basis to choose new encoders with certain precision.