Design of Hybrid Neural Network Control for MIMO Systems

Abstract

In this paper, we propose a cooperative control approach that is based on the combination of neural network (NN) and cerebellar model articulation controller (CMAC) methodology. The main purpose is not only the chattering free but also the two inverted pendulums on carts a superior tracking response. Moreover, the system performance obtained via the method of hybrid sliding mode control can be improved. In the present approach, two parallel networks are utilized to realize a hybrid neural sliding mode control (HNSMC). The equivalent control and the corrective control in terms of sliding mode control are the outputs of the neural networks. The weights adaptations of neural network are determined based on the sliding mode control equations. The simulation results show that the proposed controller not only drastically reduces the overshoot, but also maintains a small extent of the settling time and the steady state error. It is shown that the proposed method is feasible and effective.