Decoupling control for nonlinear coupling systems based on CMAC & PID

Abstract

In order to actualize decoupling control for nonlinear multivariate coupling system, A multivariate self-adapting decoupling control method based on CMAC and PID was proposed in this studies, and its algorithm was designed in detail. The control strategy utilizes PID controller and CMAC to combine a composite controller. Outputs of multiple same composite controllers are mapped by MIMO linear neural networks into final control actions. Because of characteristics of neural networks, multivariate control system can approach reference model, and the decoupling control aim was achieved. The simulation results show that the strategy realized effectively decoupling control for multivariate coupling system, and is good at anti-disturbance ability and strong in robustness. So the control strategy can realize the decoupling control of the multivariate nonlinear coupling system.