Robust Adaptive Self-Organizing Wavelet Fuzzy CMAC Tracking Control for De-icing Robot Manipulator

ThanhQuyen Ngo, TaVan Phuong


In this paper, a robust adaptive self-organizing control system based on a novel wavelet fuzzy cerebellar model articulation controller (WFCMAC) is developed for an n-link robot manipulator to achieve the high-precision position tracking. This proposed controller consists of two parts: one is the WFCMAC approach which is implemented to cope with nonlinearities, due to the novel WFCMAC not only incorporates the wavelet decomposition property with fuzzy CMAC fast learning ability but also it will be self-organized; that is, the layers of WFCMAC will grow or prune systematically. Therefore, dimension of WFCMAC can be simplified. The second is the order which is the adaptive robust controller which is designed to achieve robust tracking performance of the system. The adaptive tuning laws of WFCMAC parameters and error estimation of adaptive robust controller are derived through the Lyapunov function so that the stability of the system can be guaranteed. Finally, the simulation and experimental results of novel three-link deicing robot manipulator are applied to verify the effectiveness of the proposed control methodology.


Wavelet, CMAC, Deicing robot manipulator

Full Text:



M. Baban, C.F. Baban, C. Bungau, G. Dragomir, R.M. Pancu (2014); Estimation of the Technical State of Automotive Disc Brakes Using Fuzzy Logic, International Journal of Computers Communications & Control, 9(5): 531-538.

C.R. Costea, H.M. Silaghi, D. Zmaranda, M.A. Silaghi (2015); Control System Architecture for a Cement Mill Based on Fuzzy Logic, International Journal of Computers Communications & Control, 10(2): 165-173.

Y. Zou, Y. N. Wang, X. Z. Liu (2010); Neural network robust H∞ tracking control strategy for robot manipulators. Applied Mathematical Modelling, 34(7): 1823-1838.

Y. Feng, W. Yao-nan, Y. Yi-min (2012); Inverse Kinematics Solution for Robot Manipulator based on Neural Network under Joint Subspace, International Journal of Computers Communications & Control, 7(3): 459-472.

C. Zhu, Y. F. Fang (2007); Adaptive control of parallel manipulators via fuzzy-neural network algorithm. Journal Control Theory & Application, 5(3): 295-300.

T. Ngo, Y. Wang, T.L. Mai, M.H. Nguyen, J. Chen (2012); Robust Adaptive Neural-Fuzzy Network Tracking Control for Robot Manipulator. International Journal of Computers Communications& Control, 7(2): 341-352.

C. F. Hsu, C. M. Lin, T. T. Lee (2006); Wavelet adaptive backstepping control for a class of nonlinear Systems, IEEE Transcation Neural Network, 17(5): 1175-1183.

C. H. Lu (2009); Design and application of stable predictive controller using recurrent wavelet neural networks, IEEE Transactions On Industrial Electronics, 56(9): 733 – 3742.

J. S. Albus (1975); A new approach to manipulator control: The cerebellar model articulation controller (CMAC), J. Dyn. Syst. Meas. Control, 97(3): 220 – 227.

S. Jagannathan, S. Commuri, F. L. Lewis (1998); Feedback linearization using CMAC neural networks, Automatica, 34(3): 547 – 557.

Y. H. Kim, F. L. Lewis (2000); Optimal design of CMAC neural-network controller for robot manipulators, IEEE Transcation System Man Cybernation C, Application Revision, 30(1): 22– 31.

C. T. Chiang, C. S. Lin (1996); CMAC with general basis functions, Journal of Neural Network, 9(7): 1199 – 1211.

H. C. Lu, C. Y. Chuang, M. F. Yeh (2009); Design of hybrid adaptive CMAC with supervisory controller for a class of nonlinear system. Neurocomputing, 72(7-9): 1920 – 1933.

Y. F. Peng, C. M. Lin (2004); Intelligent hybrid control for uncertain nonlinear systems using a recurrent cerebellar model articulation controller. IEEE Proceedings Control Theory Application, 151(5): 589 – 600.

Y.C. Hsu, G. Chen, H.X. Li (2001); A Fuzzy adaptive Variable Structure Controller with Application to Robot Manipulators, IEEE Transcation System Man Cybernation, 31(3): 331-340.

H. K. Khalil (1996); Nonlinear systems, Englewood Cliffs, NJ: Prentice-Hall, 1996.

C. M. Lin, T. Y. Chen (2009); Self-organizing CMAC control for a class of MIMO uncertain nonlinear systems, IEEE Neural Nets, 20(9): 1377 – 1384.

C.T. Lin, C. S. George Lee (1996); Neural fuzzy systems, Englewood Cliffs, NJ: Prentice- Hall.


Copyright (c) 2017 ThanhQuyen Ngo, TaVan Phuong

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]

INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2018: IF=1.585..

IJCCC is indexed in Scopus from 2008 (CiteScore2018 = 1.56):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.


 Impact Factor in JCR2018 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.585 (Q3). Scopus: CiteScore2018=1.56 (Q2);

SCImago Journal & Country Rank

Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.