Self-organizing CMAC control for a class of MIMO uncertain nonlinear systems

IEEE Transactions on Neural Networks

Volumn 20, Issue 9, 2009, Pages 1377-1384

  Lin, Chih Min ^a   Chen, Te Yu ^a  

^a YUAN ZE UNIVERSITY   (Taiwan)

Author keywords

Cerebellar model articulation controller (CMAC); Gradient descent method; Lyapunov stability theorem; Self organizing; Uncertain nonlinear systems

Indexed keywords

CEREBELLAR MODEL ARTICULATION CONTROLLER (CMAC); GRADIENT-DESCENT METHOD; LYAPUNOV STABILITY THEOREM; SELF-ORGANIZING; UNCERTAIN NONLINEAR SYSTEMS;

AUTOMOBILE EXHIBITIONS; CONTROL SYSTEMS; DIFFERENTIAL EQUATIONS; LYAPUNOV FUNCTIONS; MOTORS; MULTIPLEXING; NONLINEAR SYSTEMS; OBSERVABILITY; SYSTEM STABILITY;

CONTROLLERS;

ALGORITHM; ARTICLE; ARTIFICIAL INTELLIGENCE; ARTIFICIAL NEURAL NETWORK; CEREBELLUM; COMPUTER SIMULATION; HUMAN; MOTION; NONLINEAR SYSTEM; NORMAL DISTRIBUTION; STATISTICAL MODEL; TIME; ULTRASOUND; UNCERTAINTY;

ALGORITHMS; ARTIFICIAL INTELLIGENCE; CEREBELLUM; COMPUTER SIMULATION; HUMANS; LINEAR MODELS; MOTION; NEURAL NETWORKS (COMPUTER); NONLINEAR DYNAMICS; NORMAL DISTRIBUTION; TIME FACTORS; ULTRASONICS; UNCERTAINTY;

EID: 70349263821     PISSN: 10459227     EISSN: None     Source Type: Journal    
DOI: 10.1109/TNN.2009.2013852     Document Type: Article

References (22)

1. J. J. E. Slotine and W. P. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice-Hall, 1991.
2. J. Y. Hung, W. Gao, and J. C. Hsu, "Variable structure control: A survey," IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2-22, Feb. 1993.
3. K. S. Narendra and K. Parthasarathy, "Identification and control of dynamical systems using neural networks," IEEE Trans. Neural Netw. vol. 1, no. 1, pp. 4-27, Mar. 1990.
4. J. R. Noriega and H. Wang, "A direct adaptive neural-network control for unknown nonlinear systems and its application," IEEE Trans. Neural Netw., vol. 9, no. 1, pp. 27-34, Jan. 1998.
5. C. M. Lin and C. F. Hsu, "Neural network hybrid control for antilock braking systems," IEEE Trans. Neural Netw., vol. 14, no. 2, pp. 351-359, Mar. 2003.
6. C. M. Lin and C. F. Hsu, "Supervisory recurrent fuzzy neural network control of wing rock for slender delta wings," IEEE Trans. Fuzzy Syst., vol. 12, no. 5, pp. 733-742, Oct. 2004.
7. J. S. Albus, "A new approach to manipulator control: The cerebellar model articulation controller (CMAC)," J. Dyn. Syst. Meas. Control vol. 97, no. 3, pp. 220-227, 1975.
8. S. H. Lane, D. A. Handelman, and J. J. Gelfand, "Theory and development of higher-order CMAC neural network," IEEE Control Syst. Mag., vol. 12, no. 2, pp. 23-30, Apr. 1992.
9. H. Shiraishi, S. L. Ipri, and D. D. Cho, "CMAC neural network controller for fuel-injection systems," IEEE Trans. Control Syst. Technol., vol. 3, no. 1, pp. 32-38, Mar. 1995.
10. S. Jagannathan, S. Commuri, and F. L. Lewis, "Feedback linearization using CMAC neural networks," Automatica, vol. 34, no. 3, pp. 547-557, 1998.
11. C. T. Chiang and C. S. Lin, "CMAC with general basis functions," J. Neural Netw., vol. 9, no. 7, pp. 1199-1211, 1996.
12. Y. H. Kim and F. L. Lewis, "Optimal design of CMAC neural-network controller for robot manipulators," IEEE Trans. Syst. Man Cybern. C, Appl. Rev., vol. 30, no. 1, pp. 22-31, Feb. 2000.
13. S. F. Su, T. Tao, and T. H. Hung, "Credit assigned CMAC and its application to online learning robust controllers," IEEE Trans. Syst. Man Cybern. B, Cybern., vol. 33, no. 2, pp. 202-213, Apr. 2003.
14. C. M. Lin and Y. F. Peng, "Adaptive CMAC-based supervisory control for uncertain nonlinear systems," IEEE Trans. Syst. Man Cybern. B, Cybern., vol. 34, no. 2, pp. 1248-1260, Apr. 2004.
15. S. Commuri, S. Jagannathan, and F. L. Lewis, "CMAC neural network control of robot manipulators," J. Robot. Syst., vol. 14, no. 6, pp. 465-482, 1997.
16. T. F. Wu, P. S. Tsai, F. R. Chang, and L. S. Wang, "Adaptive fuzzy CMAC control for a class of nonlinear system with smooth compensation," Inst. Electr. Eng. Proc. Control Theory Appl., vol. 153, no. 6, pp. 647-657, 2006.
17. C. M. Lin and C. H. Chen, "Robust fault-tolerant control for a biped robot using a recurrent cerebellar model articulation controller," IEEE Trans. Syst. Man Cybern. B, Cybern., vol. 37, no. 1, pp. 110-123, Feb. 2007.
18. J. Hu and F. Pratt, "Self-organizing CMAC neural networks and adaptive dynamic control," in Proc. IEEE Int. Symp. Intell. Control/Intell. Syst. Semiotics, 1999, pp. 259-265.
19. H. M. Lee, C. M. Chen, and Y. F. Lu, "A self-organizing HCMAC neural-network classifier," IEEE Trans. Neural Netw., vol. 14, no. 1, pp. 15-27, Jan. 2003.
20. L. X.Wang, Adaptive Fuzzy Systems and Control: Design and Stability Analysis. Englewood Cliffs, NJ: Prentice-Hall, 1994.
21. S. Zhou, G. Feng, and C. B. Feng, "Robust control for a class of uncertain nonlinear systems: Adaptive fuzzy approach based on backstepping," Fuzzy Sets Syst., vol. 151, no. 1, pp. 1-20, 2005.
22. N. W. Hagood and A. J. Mcfarland, "Modeling of a piezoelectric rotary ultrasonic motor," IEEE Trans. Ultrason. Ferroelectr. Freq. Control vol. 42, no. 2, pp. 210-224, Mar. 1995.