Adaptive tracking control of a class of nonlinear systems using CMAC network

Jui Hong Horng, Jer Guang Hsieh, Teh-Lu Liao

研究成果: Article同行評審

5 引文 斯高帕斯(Scopus)

摘要

In this paper, an adaptive control based on a Cerebellar Model Articulation Controller (CMAC) network is derived to solve the output tracking problem for a class of nonlinear systems with unknown structured nonlinearities. Without requiring a priori knowledge of the system parameter values, the proposed adaptive control consists of the conventional sliding control and a feedforward compensation with the CMAC network. The sliding control is used as a classical tracking controller for the nominal system and the CMAC network is used to compensate the parametrization errors. It is shown by the Lyapunov approach that the outputs of the closed-loop system asymptotically track the desired output trajectories. The effectiveness of the proposed control scheme is verified with an application to a two degree-of-freedom (DOF) robotic manipulator.

原文English
頁(從 - 到)861-878
頁數18
期刊Journal of the Franklin Institute
333
發行號6
DOIs
出版狀態Published - 1996 1月 1

All Science Journal Classification (ASJC) codes

  • 控制與系統工程
  • 訊號處理
  • 電腦網路與通信
  • 應用數學

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