Adaptive CMAC-based supervisory control for uncertain nonlinear systems

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Chih-Min Lin, Ya-Fu Peng

Abstract

An adaptive cerebellar-model-articulation-controller (CMAC)-based supervisory control system is developed for uncertain nonlinear systems. This adaptive CMAC-based supervisory control system consists of an adaptive CMAC and a supervisory controller. In the adaptive CMAC, a CMAC is used to mimic an ideal control law and a compensated controller is designed to recover the residual of the approximation error. The supervisory controller is appended to the adaptive CMAC to force the system states within a predefined constraint set. In this design, if the adaptive CMAC can maintain the system states within the constraint set, the supervisory controller will be idle. Otherwise, the supervisory controller starts working to pull the states back to the constraint set. In addition, the adaptive laws of the control system are derived in the sense of Lyapunov function, so that the stability of the system can be guaranteed. Furthermore, to relax the requirement of approximation error bound, an estimation law is derived to estimate the error bound. Finally, the proposed control system is applied to control a robotic manipulator, a chaotic circuit and a linear piezoelectric ceramic motor (LPCM). Simulation and experimental results demonstrate ...Continue Reading

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Citations

Oct 6, 2012·Neural Networks : the Official Journal of the International Neural Network Society·Mohamed Chemachema
Feb 14, 2006·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Shun-Feng SuYan-Ping Wang
Feb 7, 2007·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Chih-Min Lin, Chiu-Hsiung Chen
Nov 4, 2009·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Ming-Feng Yeh, Cheng-Hung Tsai
Aug 3, 2007·IEEE Transactions on Neural Networks·Chun-Fei Hsu
Jun 7, 2007·IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society·Ya-Fu Peng, Chih-Min Lin
May 29, 2007·IEEE Transactions on Neural Networks·Chih-Min LinChiu-Hsiung Chen
Apr 29, 2009·IEEE Transactions on Neural Networks·Chih-Min Lin, Te-Yu Chen
Jun 14, 2019·Frontiers in Neuroscience·Jian-Sheng GuanChih-Min Lin

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