Design of Output Recurrent CMAC Backstepping Control System for Tracking Periodic Trajectories

An output recurrent cerebellar model articulation controller (ORCMAC) via the backstepping control technique is designed to control a linear ultrasonic motor (LUSM) for the tracking of periodic reference trajectories in this paper. The proposed ORCMAC has superior capability to the conventional cerebellar model articulation controller (CMAC) in efficient learning mechanism and dynamic response. In the ORCMAC backstepping control system, an adaptive ORCMAC is used to mimic an ideal backstepping control law and a compensated controller is designed to compensate for the difference between the ideal backstepping control law and the adaptive ORCMAC. Moreover, the Taylor linearization technique is employed to derive the linearized model of the ORCMAC. The adaptation laws of the control system are derived in the sense of Lyapunov stability analysis, so that the stability of the system can be guaranteed. Finally, the effectiveness of the proposed control system is verified by the experiments of LUSM motion control. Experimental results show that high-precision tracking response can be achieved by using the proposed ORCMAC backstepping control system.