Improving the output smoothing of the electric loading system based on the CMAC+PD compound control strategy

Cerebellar model articulation controller and proportional derivative (CMAC+PD) compound control strategy had an unsmooth output, which would increase the vibration of loading motor and decrease the control performance. An improved CMAC+PD compound control strategy with a new weights updating formula was proposed after analyzing the reason of the unsmooth problem. The improved CMAC+PD compound control strategy could not only decrease the error, but also improve the output smoothness in the weights updating process. The simulation and experimental results demonstrated that the improved CMAC+PD compound control strategy has a more smooth output and a better stability performance than the conventional CMAC+PD compound control strategy. And the steady state error is reduced by 21%.