Clouds-model control of double inverted pendulum based on information fusion

For the inverted pendulum which is nonlinear, strong coupling, multivariate and natural unstable system, a clouds model controller is designed by combining clouds model with fuzzy set theory and applied to the control of double inverted pendulum. Based on information fusion technique, state feedback matrix with quadratic optimal performance index is adopted as fusion function to reduce dimension of the multiple inputs vector, and decrease the difficulty of controller design process. The simulation results show that the control method has excellent dynamic performance and strong robustness, and reflect the superiority of cloud model theory which combining qualitative analysis with quantitative analysis in dealing with uncertainty problems.