Intelligent adaptive control for MIMO uncertain nonlinear systems |
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Authors: | Chiu-Hsiung Chen Chih-Min Lin Te-Yu Chen |
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Affiliation: | aDepartment of Computer Science and Information Engineering, China University of Technology, No. 530, Sec. 3, Jhongshan Road, Hukou Township, Hsinchu County 30301, Taiwan, ROC;bDepartment of Electrical Engineering, Yuan-Ze University, No. 135, Far-East Road, Chung-Li, Tao-Yuan 32026, Taiwan, ROC |
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Abstract: | This paper investigates an intelligent adaptive control system for multiple-input–multiple-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 mass–spring–damper mechanical system and a Chua’s 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. |
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Keywords: | Recurrent-cerebellar-model-articulation-controller (RCMAC) Adaptive control Nonlinear systems Mass– spring– damper mechanical system Chua’ s chaotic circuit |
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