A Robust Adaptive Fuzzy CMAC Controller for Nonlinear Systems

In this paper, a redesign of an adaptive fuzzy sliding mode cerebellar model articulation controller (FSCMAC) is presented. Adaptation laws for proposed FSCMAC are used to estimate the system models for approximating an ideal controller, and then a compensated controller is appended to guarantee the system stability for eliminating the effect of the approximation error. The redesign of FSCMAC is used to attenuate the chattering control signal and promote the robustness of adaptation laws. An illustrated example is utilized to show the performance of the proposed control scheme.