{"title":"A self-organizing fuzzy CMAC for sliding mode control","authors":"Kao-Shing Hwang, Ching-Shun Lin","doi":"10.1109/VSS.1996.578580","DOIUrl":null,"url":null,"abstract":"A neuro-fuzzy system is proposed to tackle physical learning control problems in this paper. The control scheme is composed of two elements. The first element, the fuzzy sliding mode controller, is used to drive the state variables to a specific switching hyperplane or a desired trajectory. The second one is developed based on the concept of the fuzzy cerebellar model articulation controller (FCMAC) and adaptive heuristic critic (AHC). Both compose a forward compensator to reduce the chattering effect or cancel the influence of system uncertainties. Simulations on chattering reduction is given to illustrate the performance and applicability of the proposed control scheme.","PeriodicalId":393072,"journal":{"name":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","volume":"53 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1996 IEEE International Workshop on Variable Structure Systems. - VSS'96 -","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/VSS.1996.578580","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
A neuro-fuzzy system is proposed to tackle physical learning control problems in this paper. The control scheme is composed of two elements. The first element, the fuzzy sliding mode controller, is used to drive the state variables to a specific switching hyperplane or a desired trajectory. The second one is developed based on the concept of the fuzzy cerebellar model articulation controller (FCMAC) and adaptive heuristic critic (AHC). Both compose a forward compensator to reduce the chattering effect or cancel the influence of system uncertainties. Simulations on chattering reduction is given to illustrate the performance and applicability of the proposed control scheme.