Adaptive tracking control based on CMAC for nonlinear systems

Abstract

In this study, we present control system based on cerebellar model articulation controller (CMAC) for nonlinear systems to achieve high precision trajectory tracking. The proposed control system includes the CMAC with its fast learning and good generalization capability is applied to approximate uncertainties or model parameter variation to attain error function minimum and a compensator controller (CC) is designed to cancel the approximation error for guaranteeing the stable of the system. The gradient descent method is used to turn online parameters of the CMAC and the stability of the control system can be guaranteed by the compensator controller. The experimental results of Tank Pressure Control and Tank Water Level Control Systems prove that the robustness and effectiveness of the proposed controller.