A Study of Adaptive Control Based on CMAC Neural Network

Over the last few years, the study in adaptive §intelligent control utilizing Fuzzy, Neural Network §for a class of unknown nonlinear systems has §attracted considerable attention. In this book, a §new hybrid adaptive cerebeller model articulation §controller (CMAC) sliding mode control system is §developed. The hybrid adaptive CMAC sliding mode §controller (HACSMC) uses the direct and indirect §adaptive CMAC controllers to perform the equivalent §control of sliding mode control (SMC). Two types of §methods, sign function switching controller and CMAC §switching controller are proposed to design the §switching control law of SMC. In addition, the §adaptive laws of the control system are derived in §the sense of Lyapunov theorem, so that the stability §of the system can be guaranteed. Finally, the §proposed control system is applied to inverted §pendulum system and Chua s chaotic circuit. The §simulation results show that the HACSMC can not only §make control system have good tracking performance §and strong robustness but also have more flexibility §during the design process.