A VSS-type FCMAC controller

Abstract

A new design methodology for the Cerebella Model Articulation Controller (CMAC) with the theory of variable structure system (VSS) is proposed in this paper. Variable structure system, also named as sliding mode control, is a powerful design method for controlling a nonlinear system where exists uncertainty. Generally speaking, the CMAC is first trained from an existed controller; then the CMAC can be used to instead of the original controller for achieving a fast operating system performance. Moreover, it can be easily realized through FPGA and operated in the requirement of real-time control cases. However, the overall performance of control system depends on the trained CMAC; usually, it is not easy to yield the same performance as the original controller. Therefore, how to improve the performance without learning process maybe is a good idea in designing the CMAC. The determination of the CMAC weights via the control scheme of VSS provides a solution for designing such controller. In addition, a constructed updating rule mechanism is used to enhance the characteristic of CMAC. Finally, a simulation example of controlling a nonlinear system is employed to illustrate the performance and applicability of the proposed control scheme.