Recurrent CMAC-based hybrid controller design for inverted double pendulum system

This paper proposes a hybrid controller design method by using a recurrent cerebellar model articulation controller (RCMAC) and a robust controller. The RCMAC is a main tracking controller utilized to mimic an ideal sliding mode controller, and the parameters of the RCMAC are on-line tuned by the derived adaptive laws from the Lyapunov function. Based on the H^infin control approach, the robust controller is employed to efficiently suppress the influence of approximation error between the ideal sliding mode controller and the RCMAC, so that the robust tracking performance of the system can be guaranteed. Finally, computer simulation results on a two-inverted pendulum system are performed to verify the effectiveness of the proposed hybrid control scheme.