Design and applications of cerebellar model articulation controller

Abstract

This study presents a control system design based on cerebellar-model- articulation-controller (CMAC) for a class of multiple-input multiple-output (MIMO) uncertain nonlinear systems. The proposed control system merges a CMAC and sliding mode control, so the input space dimension of CMAC can be simplified. The control system consists of a CMAC-based principal controller (CMPC) and a robust controller. CMPC containing a CMAC uncertainty observer is used as the principal controller and the robust controller is designed to dispel the effect of approximation error. The gradient descent method is used to on-line tune the parameters of CMAC and the Lyapunov function is applied to guarantee the stability of the system. An experimental result of linear ultrasonic motor motion control and a simulation study of biped robot fault tolerance control show that favorable control performance can be achieved by using the proposed control system. © 2009 Springer-Verlag Berlin Heidelberg.