Design of a hybrid adaptive CMAC with supervisory controller for a class of nonlinear system

This paper attempts to propose a hybrid adaptive cerebellar model articulation controller (CMAC) sliding mode control (SMC; called HAC-SMC) with a supervisory controller for a class of nonlinear system, in which the HAC composed of a direct adaptive CMAC and an indirect adaptive CMAC control is performed as the SMC. There are two methods to design the switching control law of SMC. One is the sign switching controller. The other is the CMAC switching controller. Besides, a supervisory controller is appended to the HAC-SMC to guarantee the states staying in the boundary layer. The adaptive laws of the control system are derived in the sense of Lyapunov theorem so that the asymptotic stability of the system could be guaranteed. Simulation results show that the proposed control system has satisfactory performance on the inverted pendulum system and the Chua's chaotic circuit.