Title :
A self-organizing fuzzy CMAC for sliding mode control
Author :
Hwang, Kao-Shing ; Lin, Ching-Shun
Author_Institution :
Dept. of Electr. Eng., Nat. Chung-Hsing Univ., Taichung, Taiwan
Abstract :
A neuro-fuzzy system is proposed to tackle physical learning control problems in this paper. The control scheme is composed of two elements. The first element, the fuzzy sliding mode controller, is used to drive the state variables to a specific switching hyperplane or a desired trajectory. The second one is developed based on the concept of the fuzzy cerebellar model articulation controller (FCMAC) and adaptive heuristic critic (AHC). Both compose a forward compensator to reduce the chattering effect or cancel the influence of system uncertainties. Simulations on chattering reduction is given to illustrate the performance and applicability of the proposed control scheme
Keywords :
cerebellar model arithmetic computers; compensation; fuzzy control; fuzzy neural nets; heuristic programming; learning (artificial intelligence); neurocontrollers; self-adjusting systems; variable structure systems; AHC; FCMAC; adaptive heuristic critic; chattering effect; forward compensator; fuzzy cerebellar model articulation controller; learning control; neuro-fuzzy system; self-organizing fuzzy CMAC; sliding mode control; switching hyperplane; system uncertainties; Adaptive control; Control systems; Electric variables control; Fuzzy control; Fuzzy logic; Fuzzy neural networks; Fuzzy systems; Programmable control; Sliding mode control; Trajectory;
Conference_Titel :
Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on
Conference_Location :
Tokyo
Print_ISBN :
0-7803-3718-2
DOI :
10.1109/VSS.1996.578580
