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• W2009802078 abstract "In this paper, a robust parametric cerebellar model articulation controller (RP-CMAC) with self-generating design, called RPCSGD, is proposed for uncertain nonlinear systems. The proposed controller consists of two parts: one is the parametric CMAC with self-generating design (PCSGD), which is utilized to approximate the ideal controller and the other is the robust controller, which is designed to achieve a specified H∞ robust tracking performance of the system. The corresponding memory size of the proposed controller can be suitably constructed via the self-generating design. Thus, the useless or untrained memories will not take possession of the space. Besides, the concept of sliding-mode control (SMC) is adopted so that the proposed controller has more robustness against the approximated error and uncertainties. The stability of the system can be guaranteed surely due to the derivations of the adaptive laws of the proposed RPCSGD based on the Lyapunov function. Finally, the proposed controller is applied to the second-order chaotic system and the one-link rigid robotic manipulator. The tracking performance and effectiveness of the proposed controller are verified by simulations of the computer." @default.
• W2009802078 created "2016-06-24" @default.
• W2009802078 creator A5030703772 @default.
• W2009802078 creator A5083828591 @default.
• W2009802078 date "2011-01-01" @default.
• W2009802078 modified "2023-09-23" @default.
• W2009802078 title "Robust parametric CMAC with self-generating design for uncertain nonlinear systems" @default.
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• W2009802078 doi "https://doi.org/10.1016/j.neucom.2010.09.001" @default.
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