Human simulated intelligence motion control for a three-link acrobot

A swing-up controller based on human simulated intelligence control theory is designed for three-link acrobot. According to the analysis of athletes' motion, swing-up process is divided by six sequence phases. We describe the six sequence phase by sensory-motor intelligence schema and design Bang-Bang and PD controller for every phase. With the controller, the acrobot can swing up quickly and smoothly. Simulation results show the effectiveness and feasibility of the proposed method.