Adaptive tracking control based on CMAC for nonlinear systems

Ta, Van-Phuong; Dang, Xuan-Kien; Ngo, Thanh-Quyen

doi:10.1109/icsse.2017.8030923

Cited by 9 publications

(7 citation statements)

References 12 publications

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“…In this space, each block performs a receptive-field basis function, which can be defined mother wavelet. The first derivative of the basic Gaussian function for each block is given here as a mother wavelet which can be represented as (9). , 𝜇 𝑖𝑗 represents the reception-field basic function for 𝑗th block of the 𝑖th input, 𝑚 𝑖𝑗 is a translation parameter, and 𝜎 𝑖𝑗 is dilation.…”

Section: A Brief Of the S-rwcmacmentioning

confidence: 99%

Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator

Ngo,

Le,

Lam

et al. 2023

Journal of Robotics and Control

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The control of any robotic system always faces many great challenges in theory and practice. Because between theory and reality, there is always a huge difference in the uncertainty components in the system. That leads to the accuracy and stability of the system not being guaranteed with the set requirements. This paper presents a novel adaptive single-input recurrent wavelet differentiable cerebellar model articulation controller (S-RWCMAC)-based supervisory control system for an m-link robot manipulator to achieve precision trajectory tracking. This adaptive S-RWCMAC-based supervisory control system consists of a main adaptive S-RWCMAC, a supervisory controller, and an adaptive robust controller. The S-RWCMAC incorporates the advantages of the wavelet decomposition property with a CMAC fast learning ability, dynamic response, and input space dimension of RWCMAC can be simplified; and it is used to control the plant. The supervisory controller is appended to the adaptive S-RWCMAC to force the system states within a predefined constraint set and the adaptive robust controller is developed to dispel the effect of the approximate error. In this scheme, if the adaptive S-RWCMAC can not maintain the system states within the constraint set. Then, the supervisory controller will work to pull the states back to the constraint set and otherwise is idle. The online tuning laws of S-RWCMAC and the robust controller parameters are derived from the gradient-descent learning method and Lyapunov function so that the stability of the system can be guaranteed. The simulation and experimental results of the novel three-link De-icing robot manipulator are provided to verify the effectiveness of the proposed control methodology. The results indicate that the proposed model has superior accuracy compared to that of the Standalone CMAC Controller. The parameters of the average squared error in the S-RWCMAC -based 3 robot joints are lower than those of the Standalone CMAC Controller by 0.023%, 0.029%, and 0.032%, respectively.

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Section: A Brief Of the S-rwcmacmentioning

confidence: 99%

Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator

Ngo,

Le,

Lam

et al. 2023

Journal of Robotics and Control

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“…To improve the learning ability of the NNs in real-time, the Recurrent Cerebellar Model Articulation Controllers (RCMAC) have been developed and applied for uncertain, non-model, and non-linear systems [18,19]. The effectiveness of the RCMAC in controlling practical applications have achieved good responses [20,21].…”

Section: Introductionmentioning

confidence: 99%

An Innovative Approach for Water Distribution Systems

Ta¹,

Truong²,

Nhan³

2022

Intelligent Automation &Amp; Soft Computing

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Water Distribution System (WDS) is one of the important phases of the Water Treatment Plant (WTP) and plays a crucial role in plant, animal, and human life. The WDS aims not only to supply a continuous, stable water amount but also to reduce energy consumption as little as possible during operation. To keep the continuous, stable water amount, the water pressure in the pipe network of the WDS must be maintained at desired set points under the effecting of uncertainties, disturbances, and noises. For saving the energy requirement, a Variable Frequency Driver (VFD) was utilized to control the speed of the Water Boost Pump (WBP) as speed as the WDS requires and a Recurrent Cerebellar Model Articulation Control System (RCMACS) was proposed to keep the water pressure at desired reference under abnormal events. Furthermore, to adapt to the industrial environment, the RCMACS was implemented on the Allen-Bradly Programmable Logic Controller (PLC), and industrial networks were also proposed to connect and transfer data between control stations and field devices.

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“…For each input, only a few related weights should be adjusted, so the network can approximate non-linear terms exceptionally quickly. 23,24 A clear FCMAC structure which mainly aims at significant payload variation is provided, and the unified stability analysis of the whole control scheme is proved by the Lyapunov method. Simulation results show that the proposed control method performs well during tracking even there exist model uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy cerebellar model articulation controller-based adaptive tracking control for load-carrying exoskeleton

Lang

et al. 2020

Measurement and Control

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Load-carrying exoskeletons need to cope with load variations, outside disturbances, and other uncertainties. This paper proposes an adaptive trajectory tracking control scheme for the load-carrying exoskeleton. The method is mainly composed of a computed torque controller and a fuzzy cerebellar model articulation controller. The fuzzy cerebellar model articulation controller is used to approximate model inaccuracies and load variations, and the computed torque controller deals with tracking errors. Simulations of an exoskeleton in squatting movements with model parameter changes and load variations are carried out, respectively. The results show a precise tracking response and high uncertainties toleration of the proposed method.

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Adaptive tracking control based on CMAC for nonlinear systems

Cited by 9 publications

References 12 publications

Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator

Adaptive Single-Input Recurrent WCMAC-Based Supervisory Control for De-icing Robot Manipulator

An Innovative Approach for Water Distribution Systems

Fuzzy cerebellar model articulation controller-based adaptive tracking control for load-carrying exoskeleton

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