Intelligent tracking control for duffing oscillator using a self-organizing CMAC

This paper presents an intelligent tracking control system for the chaotic systems based on a self-organizing cerebellar-model-articulation-controller (CMAC). The structure of CMAC will be self-organized; that is, the layers of CMAC will grow or prune systematically and their receptive functions can be automatically adjusted. The control system consists of a self-organizing CMAC (SOCM) and a robust controller. SOCM containing a CMAC identifier is used as the principal controller and the robust controller is designed to dispel the effect of approximation error. The Lyapunov algorithm is used to on-line tune the parameters of CMAC and is applied to guarantee the stability of the system. Finally, simulation studies show that the proposed intelligent tracking control can achieve favorable tracking performance.