The auxiliary CMAC for improving the performance of robust controller

An auxiliary CMAC for improving the performance of robust controller is proposed in this paper. There are two mechanisms in the proposed structure: one is the robust controller and the other is the auxiliary CMAC learning mechanism. The robust controller technique can achieve a certain goal without concern for instability of the controlled system in the presence of significant plant uncertainties if the nominal parameters are roughly estimated. In order to improve the performance of robust controller, a suitable control output should be chosen. Thus, an auxiliary CMAC learning mechanism under the robust control structure is online employed to learn the robust control variable and tune the control output. Finally, simulation results demonstrate the excellent capability of the proposed structure for improving the output performance.