A way of Fuzzy Cerebellar Mode Articulation PID controller design

In this paper, an adaptive robust Fuzzy Cerebellar Model Articulation Proportional-Integral-Derivative controller for nonlinear complicated system is presented. Embedding robust control assures the stability of system, the compensated controller eliminates the noise of environment and the uncertain. Because of the chattering control signal, the optimization and redesign adaptive laws are presented. All of them are based on Lyapunov function such that the stability and error convergence are assured. Finally, an illustrated example of Electronical Driver system is utilized to show the performance of the proposed control scheme.