Intelligent adaptive control scheme for uncertain nonlinear systems using H∞ control technique

In this paper, an intelligent adaptive control system using an adaptive recurrent cerebellar model articulation controller (RCMAC) and based on H^∞ control technique is developed for uncertain nonlinear system to achieve H^∞ tracking performance. The proposed dynamic structure of RCMAC has superior capability to the conventional static cerebellar model articulation controller (CMAC) in efficient learning mechanism and dynamic response. The control architecture employs an adaptive RCMAC to mimic the ideal sliding mode controller and a H^∞ control is designed to guarantee a specified H^∞ robust tracking performance. The control laws for the intelligent adaptive control system are derived based on the H^∞ control technique and the Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. Finally, the proposed control system is applied to control an inverted pendulum system and a linear ultrasonic motor (LUSM). Simulation and experimental results demonstrate the effectiveness of the proposed control scheme for uncertain nonlinear systems.