Abstract :
The cerebellar model articulation controller (CMAC) is a non-linear adaptive system with
built-in simple computation, good generalization capability and fast learning property. In
this paper, a robust intelligent backstepping tracking control (RIBTC) system combined
with adaptive CMAC and H1 control technique is proposed for a class of chaotic systems
with unknown system dynamics and external disturbance. In the proposed control system,
an adaptive backstepping cerebellar model articulation controller (ABCMAC) is used to
mimic an ideal backstepping control (IBC), and a robust H1 controller is designed to attenuate
the effect of the residual approximation errors and external disturbances with desired
attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based
on the Lyapunov stability analysis, the Taylor linearization technique and H1 control theory,
so that the stability of the closed-loop system and H1 tracking performance can be
guaranteed. Finally, three application examples, including a Duffing–Holmes chaotic system,
a Genesio chaotic system and a Sprott circuit system, are used to demonstrate the
effectiveness and performance of proposed robust control technique.
