A Novel Self-organizing Fuzzy Cerebellar Model Articulation Controller Based Overlapping Gaussian Membership Function for Controlling Robotic System


  • Thanh-Quyen Ngo Industrial of University Ho Chi Minh City, Vietnam
  • Dinh-Khoi Hoang Industrial of University Ho Chi Minh City, Vietnam
  • Trong-Toan Tran Industrial of University Ho Chi Minh City, Vietnam
  • Thanh-Thuan Nguyen Industrial of University Ho Chi Minh City, Vietnam
  • Van-Tho Nguyen Industrial of University Ho Chi Minh City, Vietnam
  • Long-Ho Le Industrial of University Ho Chi Minh City, Vietnam




This paper introduces an effective intelligent controller for robotic systems with uncertainties. The proposed method is a novel self-organizing fuzzy cerebellar model articulation controller (NSOFC) which is a combination of a cerebellar model articulation controller (CMAC) and sliding mode control (SMC). We also present a new Gaussian membership function (GMF) that is designed by the combination of the prior and current GMF for each layer of CMAC. In addition, the relevant data of the prior GMF is used to check tracking errors more accurately. The inputs of the proposed controller can be mixed simultaneously between the prior and current states according to the corresponding errors. Moreover, the controller uses a self-organizing approach which can increase or decrease the number of layers, therefore the structures of NSOFC can be adjusted automatically. The proposed method consists of a NSOFC controller and a compensation controller. The NSOFC controller is used to estimate the ideal controller, and the compensation controller is used to eliminate the approximated error. The online parameters tuning law of NSOFC is designed based on Lyapunov’s theory to ensure stability of the system. Finally, the experimental results of a 2 DOF robot arm are used to demonstrate the efficiency of the proposed controller.


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