Adaptive wavelet fuzzy CMAC system design for voice coil motors

An adaptive wavelet fuzzy cerebellar model articulation control system is developed for the trajectory tracking control of voice coil motors (VCMs). This control system comprises a wavelet fuzzy cerebellar model articulation controller (WFCMAC) and a fuzzy compensator. The novel WFCMAC incorporates the wavelet decomposition property with a fuzzy CMAC fast learning ability; and it is used to imitate an ideal controller. The fuzzy compensator is developed to attenuate the effect of the approximation error caused by the WFCMAC approximator. The on-line learning algorithm of the controller´s parameters is derived based on the Lyapunov function, thus the stability of the system can be guaranteed. Finally, the developed control system is applied to the trajectory tracking control of a VCM.