三级倒立摆的云控制方法及动平衡模式

文章提出了定性和定量之间转换的云模型的形式化表示方法，用来反映语言值中蕴涵的模糊性和随机性，给出云发生器的生成算法，解释多条定性推理规则同时被激活时的不确定性推理机制。利用这种智能控制方法有效地实现了单电机控制的一、二、三级倒立摆的多种不同动平衡姿态，显示其鲁棒性，并给出了详细试验结果。研究成果不仅可用于对太空飞行器以及机器人控制，而且对揭示定性定量转换规律和策略具有普遍意义。

The Cloud Control Method and Balancing Patterns of Triple Link Inverted Pendulum Systems

A formal representation of cloud models for mapping between qualitative and quantitative knowledge is presented in this paper The algorithms for producing the cloud drops are given to describe fuzziness and randomness contained in linguistic concepts The uncertainty reasoning mechanism is proposed with such cloud models,while several qualitative rules are activated simultaneously The cloud theory has been successfully applied to balance one ,two and three link inverted pendulum systems driven by single motor showing different balancing patterns and some robustness This intelligent control technique can be used in control of robots and flying objects in space Moreover,it may have universal significance in revealing the transformation law between qualitative and quantitative knowledge