Adaptive Learning Algorithm for Cerebellar Model Articulation Controller: Neural Network Based Hybrid-Type Controller—Part II

Cerebellar model articulation controller (CMAC) is a useful neural network learning technique. It was developed two decades ago but yet lacks adequate learning algorithm especially when it is used in a hybrid-type controller. Part I of this work was devoted to introduce a new CMAC adaptive learning algorithm. Part II will be directed to experimental application of new learning algorithm of a CMAC based hybrid-type real time controller. The proposed controller is applied for the trajectory tracking of a piezoelectric actuated tool post. It has been proven that the piezoelectric actuated tool post has hysteretic behavior. Extensive experiments have been carried out on the experimental setup to evaluate the proposed adaptive learning algorithm of CMAC. Only few experiments and their results are being presented. In these experiments, the performance of the piezoelectric actuated tool post has been examined and evaluated using different types of control algorithms and applying external load disturbance. The control performance of the proposed controller is compared with those of conventional controllers (PI controller and the conventional CMAC based controller). The experimental results showed that performance of the hybrid-type controller using the proposed learning algorithm is stable and more effective than that of the conventional controllers. Testing and comparing the learning ability of the proposed learning algorithm with that of the conventional CMAC learning algorithm indicated the effectiveness of the learning ability of the proposed algorithm. Finally, the response using the proposed hybrid-type controller is slightly better than using the conventional PI controller under the effect of external load disturbance.