CMAC based control of nonlinear mechanical system

This paper proposes a novel cerebellar model articulation controller (CMAC) based controller design method for nonlinear mechanical systems. CMAC is employed to approximate and compensate the uncertainties induced by inaccurate modelling of the system to be controlled. A mathematical model of CMAC in which the adjustable parameters appear linearly is derived and the stability of the overall system is proved using the Lyapunov theory. The authors also extend the proposed scheme to obtain robustness under the bounded disturbances and the approximation error of the CMAC. Although the control problem of a simple nonlinear system is considered in this work, the proposed scheme can easily be extended to more general nonlinear systems.