摘要
提出一种利用云模型实现智能控制倒立摆的方法 .其控制策略不需要被控对象的数学模型 ,只需依据人的经验、感觉和逻辑判断 ,将人用语言值定性表达的控制经验 ,通过语言原子和云模型转换到语言控制规则器中 ,就能解决非线性问题和不确定性问题 .倒立摆这样的典型被控对象 ,验证了该控制方法的可行性和有效性 .仿真分析与实验结果表明 ,该控制方法对被控对象的状态和参数变化 ,具有一定的鲁棒性 ,应用前景广阔 .
A method of implementing intelligent control of inverted pendulum by the use of cloud models is expatiated upon in this paper. Its control strategy needs no mathematical models of plant but human experience, sensation and logic decision. The control experience qualitatively expressed by linguistic value is transformed into the linguistic control rulers through linguistic atoms and cloud models, so that non linear and uncertain problems can be disposed of. The practicability and effectiveness of the control method have been proved by the inverted pendulum called typical plant. The experiment results demonstrate that the method has stronger robustness against the variation of states and parameters of plants, and that it has better practicing value and widely prospect.
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2000年第4期519-523,共5页
Control Theory & Applications
基金
国家自然科学基金!( 69775 0 16)
关键词
云模型
自动控制理论
倒立摆
智能控制
artificial intelligence
intelligent control
pendulum
cloud models
