Fuzzy CMAC control for MIMO nonlinear systems

A fuzzy cerebellar model articulation control system is presented for multi-input multi-output (MIMO) nonlinear systems. The proposed control system contains of a fuzzy CMAC (FCMAC) and a robust controller. FCMAC is a main tracking controller utilized to approximate an ideal controller and the parameters of FCMAC are on-line tuned by the derived adaptive laws from the Lyapunov function. The robust controller is designed to suppress the influence of approximate error between the ideal controller and adaptive FCMAC, so that the robust tracking performance of the system can be guaranteed. Finally, two MIMO uncertain nonlinear systems, a Chua's chaotic circuit and a two-inverted pendulum system, are performed to illustrate the effectiveness of the proposed control scheme.

[1]  Shih-Lin Hung,et al.  High-order MS CMAC neural network , 2001, IEEE Trans. Neural Networks.

[2]  Bor-Sen Chen,et al.  H∞ tracking design of uncertain nonlinear SISO systems: adaptive fuzzy approach , 1996, IEEE Trans. Fuzzy Syst..

[3]  John Y. Hung,et al.  Variable structure control: a survey , 1993, IEEE Trans. Ind. Electron..

[4]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[5]  Aníbal R. Figueiras-Vidal,et al.  Generalizing CMAC architecture and training , 1998, IEEE Trans. Neural Networks.

[6]  J.-Y. Chen,et al.  Adaptive design of a fuzzy cerebellar model arithmetic controller neural network , 2005 .

[7]  Hak-Keung Lam,et al.  Design of a switching controller for nonlinear systems with unknown parameters based on a fuzzy logic approach , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[8]  D.A. Handelman,et al.  Theory and development of higher-order CMAC neural networks , 1992, IEEE Control Systems.

[9]  F. Chang,et al.  Adaptive fuzzy CMAC control for a class of nonlinear systems with smooth compensation , 2006 .

[10]  James S. Albus,et al.  New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)1 , 1975 .

[11]  Chih-Min Lin,et al.  Adaptive CMAC-based supervisory control for uncertain nonlinear systems , 2004, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[12]  Chih-Min Lin,et al.  Missile guidance law design using adaptive cerebellar model articulation controller , 2005, IEEE Transactions on Neural Networks.

[13]  Y.-C. Chang.  Robust H/sup /spl infin// control for a class of uncertain nonlinear time-varying systems and its application , 2004 .