Output tracking of fractional-order nonlinear systems via TS-FCMAC

The purpose of article is to develop a general Takagi-Sugeno fuzzy cerebellar model articulation controller (TS-FCMAC) and to apply to the tracking controller of fractional-order nonlinear systems. In this paper, a novel TS-CMAC controller is developed in two cases: off-line and on-line learning. First, the off-line learning convergence of TS-FCMAC is analyzed and is confined to a least square error, when the learning rate approaches to zero as the iteration goes to infinity. The benefit is having high potential to functional learning by simpler network structure. Second, the on-line learning TS-FCMAC is designed to assure tracking control. Also, we apply the TS-CMAC to realize the ideal control law for fractional-order nonlinear systems and to achieve asymptotic stability. Finally, simulation results demonstrate the validity of the purposed control scheme.