期刊
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
卷 51, 期 7, 页码 354-358出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCSII.2004.831439
关键词
cerebellar model articulation controller (CMAC); chaotic system; robust control; sliding-mode control
In this study, a robust cerebellar model articulation controller (RCMAC) is designed for unknown nonlinear systems. The RCMAC is comprised of a cerebellar model articulation controller (CMAC) and a robust controller. The CMAC is utilized to approximate an ideal controller, and the weights of the CMAC are on-line tuned by the derived adaptive law based on the Lyapunov sense. The robust controller is designed to guarantee a specified H-infinity robust tracking performance. In the RCMAC design, the sliding-mode control method is utilized to derive the control law, so that the developed control scheme has more robustness against the uncertainty and approximation error. Finally, the proposed RCMAC is applied to control a chaotic circuit. Simulation results demonstrate that the proposed control scheme can achieve favorable tracking performance with unknown the controlled system dynamics.
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