Adaptive fuzzy CMAC control for a class of nonlinear systems with smooth compensation

Adaptive fuzzy cerebellar model articulation controller (CMAC) schemes are proposed to solve the tracking problem for a class of nonlinear systems. The proposed method provides a simple control architecture that merges CMAC and fuzzy logic, so that the complicated structure and the input space dimension in CMAC can be simplified. Adaptive laws are developed to tune all of the control gains online, thereby accommodating the uncertainty of nonlinear systems without any learning phase. In particular, smooth compensation is adopted to overcome the chattering problem associated with conventional switching compensation. By Lyapunov stability analysis, it is guaranteed that all of the closed-loop signals are bounded and the tracking errors converge exponentially to a residual set whose size can be adjusted by changing the design parameters. Simulation results for its applications to three examples are presented to demonstrate the performance of the proposed methodology.