Adaptive Tanaka-Sugeno fuzzy cerebellar model articulation controller for output tracking control

This study introduces an adaptive Tanaka-Sugeno fuzzy CMAC (TS-FCMAC) for output tracking control of nonlinear systems. This structure has two advantages in two aspects. First, to deal with highly nonlinear and time varying plant, we modified traditional CMAC into a simple structure. This would significantly increase the learning speed and performance. Second, if the controlled plants are well known, TS_FCMAC is constructed as similar as the TS fuzzy system such that parallel distribution compensator (PDC) can be directly applied for the output tracking with slight modified first case. Two examples, Lorenz´s equation and linear piezoelectric ceramic motors, are given to illustrate output tracking performances.