Hybrid control for MIMO nonlinear system using RCMAC

A hybrid control system, using a recurrent cerebellar model articulation controller (RCMAC) and based on sliding mode technique, is developed for multiple-input-multiple-output (MIMO) uncertain nonlinear systems. The proposed control system is comprised of a principal controller and a compensation controller. The principal controller containing an RCMAC uncertainty observer is the main controller, and the compensation controller is a compensator for the approximation error of the system uncertainty. The on-line adaptive laws of the control system are derived based on the Lyapunov stability theorem, so that the stability of the system can be guaranteed. Finally, the proposed design method is applied to a biped robot control. Simulation results demonstrate the effectiveness of the proposed control scheme for the MIMO uncertain nonlinear systems