Adaptive Fuzzy CMAC Control for Nonlinear Systems

In this paper, a fuzzy cerebellar model arithmetic controller (FCMAC) is proposed to solve the tracking problem of a class of nonlinear systems. The control law of the proposed controller is employed to approximate an ideal control law for nonlinear systems. In addition to a compensated control law is used to assure the system stability. Both control laws are derived from the Lyapunov stability analysis, so that the system tracking ability and the error convergence can be guaranteed in the closed loop system. Finally, an electric drive system is utilized to show the satisfactory performance of the proposed control scheme.