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    云模型在倒立摆控制中的应用

    A CLOUDS MODEL APPLIED TO CONTROLLING INVERTED PENDULUM

    • 摘要: 文中提出一种利用云模型有效地实现单电机控制的三级倒立摆动态平衡的方法.通过研究倒立摆系统的定性控制机理,给出了定性和定量之间转换的云模型的形式化表示,用来反映语言值中蕴涵的模糊性和随机性,解释多条定性规则同时被激活的不确定性推理过程.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

       

      Abstract: In this paper, a clouds model is applied to the triple inverted\|pendulum system with single motor. The objective is to keep the system in a state of dynamic balance. The qualitative control mechanism for inverted\|pendulum system is studied, and the formal representation of a clouds model for transformation between qualitative and quantitative knowledge is presented. This kind of representation reflects fuzziness and randomness contained in linguistic concepts, and can interpret uncertainty reasoning process rationally when several qualitative rules are activated simultaneously. The achievements can be used in space flying\|machines control and robots control. Moreover, they may have universal significance in revealing the transformation law between qualitative and quantitative knowledge.

       

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