Title :
Fuzzy CMAC control for MIMO nonlinear systems
Author :
Lin, C.-M. ; Chen, T.Y. ; Chen, C.H. ; Ding, F.S.
Author_Institution :
Yuan-Ze Univ., Chungli
Abstract :
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.
Keywords :
Lyapunov methods; MIMO systems; cerebellar model arithmetic computers; fuzzy control; neurocontrollers; nonlinear control systems; robust control; Lyapunov function; MIMO nonlinear systems; fuzzy CMAC control; fuzzy cerebellar model articulation control system; inverted pendulum system; multiinput multioutput nonlinear systems; robust controller; tracking controller; Adaptive control; Control system synthesis; Control systems; Fuzzy control; Fuzzy systems; MIMO; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control;
Conference_Titel :
Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
978-1-4244-0990-7
Electronic_ISBN :
978-1-4244-0991-4
DOI :
10.1109/ICSMC.2007.4413653
