Intelligent adaptive control for MIMO uncertain nonlinear systems
This paper investigates an intelligent adaptive control system for multiple-inputmultiple-output (MIMO) uncertain nonlinear systems. This control system is comprised of a recurrent-cerebellar-model-articulation-controller (RCMAC) and an auxiliary compensation controller. RCMAC is utilized to approximate a perfect controller, and the parameters of RCMAC are on-line tuned by the derived adaptive laws based on a Lyapunov function. The auxiliary compensation controller is designed to suppress the influence of residual approximation error between the perfect controller and RCMAC. Finally, two MIMO uncertain nonlinear systems, a massspringdamper mechanical system and a Chuas chaotic circuit, are performed to verify the effectiveness of the proposed control scheme. The simulation results confirm that the proposed intelligent adaptive control system can achieve favorable tracking performance with desired robustness.
adaptive control nonlinear systems recurrent-cerebellar-model-articulation-controller (rcmac) massspringdamper mechanical system chuas chaotic circuit