Paper Info
Title
Adaptive wavelet cerebellar-model-articulation- controller design for MIMO nonlinear systems
Abstract
This study proposes an adaptive wavelet cerebellar -model-articulation-controller (AWCMAC) for multi-input multi-output nonlinear systems. In this proposed scheme, wavelet cerebellar-model articulation-controller (WCMAC) is the main controller utilized to mimic an ideal controller and the parameters of WCMAC are on-line adjusted by the derived tuning algorithm. Moreover the robust controller is designed to dispel the residual of the approximation error for achieving H∞ robust performance. PSO algorithm is used to tune the learning-rates to achieve fast learning speed of AWCMAC. The simulation results of a three-link robotic arm demonstrate the effectiveness of the proposed control scheme.
Year
DOI
Venue
2010
10.1109/ICSMC.2010.5642452
SMC
Keywords
Field
DocType
cmac,pso algorithm,h∞ control,learning (artificial intelligence),pso,robust control,particle swarm optimisation,h∞ robust performance,robotic arm,adaptive control,nonlinear control systems,mimo nonlinear systems,three-link robotic arm,cerebellar model arithmetic computers,multi-input multi-output nonlinear systems,mimo systems,adaptive wavelet cerebellar-model-articulation-controller design,wavelet,mathematical model,robot arm,approximation error,nonlinear system,learning artificial intelligence
Robotic arm,Control theory,Nonlinear system,Control theory,Computer science,Cerebellar model articulation controller,Artificial intelligence,Adaptive control,Robust control,Machine learning,Approximation error,Wavelet
Conference
ISSN
ISBN
Citations 
1062-922X
978-1-4244-6586-6
0
PageRank 
References 
Authors
0.34
4
3
Name
Order
Citations
PageRank
Chih-Min Lin1356.57
Ming-Hung Lin2649.13
Hsin-Yi Li31226.63