In order to alleviate the chattering phenomenon suffered in traditional sliding-mode control with exponentially reaching law(TSMC), an intelligent sliding-mode controller is proposed based on cloud models reaching law. The combination between cloud models and reaching law is introduced for the first time. With reasoning method of cloud models, the reaching speed can be adjusted dynamically to ensure that the system states can reach the sliding surface quickly and stably. Finally the designed sliding-mode controller is used to stabilize a parallel-type double inverted pendulum system (PTIPS), and the simulation results demonstrate that this method is effective and has strong robustness to system parameter uncertainty and external disturbances.
