基于动觉图式的平面倒立摆摆起控制

为实现平面倒立摆非线性系统的摆起控制,提出了一种基于动觉图式的仿人智能控制策略·该策略通过系统在线特征辨识与特征记忆,开闭环相结合的多模态控制以及直觉逻辑推理机制,使倒立摆摆杆从稳定平衡点摆起到不稳定平衡点并稳定不倒·仿真实验的结果证明:这种定性推理与定量控制相结合的智能控制器可以对具有复杂非线性、强耦合、自然不稳定特性的平面倒立摆系统实现摆起控制,同时也为其他非线性多变量系统的控制提供了有效方法·

Swing up Control Based on Sensory-Motor Schema for Planar Inverted Pendulum

To realize the non-linear control over the swing-up of a planar inverted pendulum, a human-simulated intelligent control strategy based on sensory-motor schema is presented. Through the on-line characteristic identification memory, multi-mode control combining open-loop with closed-loop control and the intuitive logical reasoning mechanism, the strategy enables the pendulum to swing from its stable equilibrium point up to an unstable equilibrium point where it remains stabilized. The simulation results successfully proved that the intelligent controller integrating qualitative reasoning with quantitative control is able to achieve the swing-up control of the complicated, non-linear, strong coupling and naturally unstable planar inverted pendulum. Meanwhile, it also provides an effective solution to controlling of other nonlinear multivariable systems.