Multi-mode Hybrid Control of DD2UD on Double Pendulum Robot

DAN Yuan-hong
（Institute of Artificial Intelligent System，Chongqing University of Technology，Chongqing 400054，China）
Abstract：The prototype of double pendulum robot is rotary double inverted pendulum，which is a typical nonlinear under?鄄actuated controlled device. To realize the acrobatics of DD2UD（transfer action from Down?鄄Down equilibrium point to Up?鄄Down equilibrium point）on double pendulum robot，the control process is divided into five control phase：initial disturbance，swing?鄄up both rods，pull and push control，adjustment of outer rod，Up?鄄Down balance control. By kinetic analysis，each sub?鄄controller is designed according to the control target of corresponding phase. Finally，a multi?鄄mode controller is constructed，and its validity is testified thorough real?鄄time experiment on double pendulum robot.
Key words：double pendulum robot；multi?鄄mode control；DD2UD；under?鄄actuated