H∞ -Tracking Based Adaptive Control for A Class of Multivariable Uncertain Nonlinear Systems using Recurrent CMAC.

A H^∞ -tracking based adaptive control scheme is proposed for a class of uncertain nonlinear systems. The proposed control system is comprised of a recurrent cerebellar model articulation controller (RCMAC) and a compensation controller. RCMAC is used to mimic an ideal controller, and the parameters of RCMAC are on-line tuned by the derived adaptive laws based on a Lyapunov function. The compensation controller is designed to suppress the influence of approximation error between the ideal controller and RCMAC, and to achieve a robust tracking performance with specified attenuation level. Finally, two uncertain nonlinear systems, a one-link rigid robotic manipulator and a mass-spring-damper mechanical system, are demonstrated to verify the effectiveness of the proposed control scheme. [ABSTRACT FROM AUTHOR]