Adaptive wavelet cerebellar-model-articulation- controller design for MIMO nonlinear systems

This study proposes an adaptive wavelet cerebellar -model-articulation-controller (AWCMAC) for multi-input multi-output nonlinear systems. In this proposed scheme, wavelet cerebellar-model articulation-controller (WCMAC) is the main controller utilized to mimic an ideal controller and the parameters of WCMAC are on-line adjusted by the derived tuning algorithm. Moreover the robust controller is designed to dispel the residual of the approximation error for achieving H^∞ robust performance. PSO algorithm is used to tune the learning-rates to achieve fast learning speed of AWCMAC. The simulation results of a three-link robotic arm demonstrate the effectiveness of the proposed control scheme.