Cited by 2,177Neural Networks and ApplicationsAdaptive Control of Nonlinear SystemsFuzzy Logic and Control Systems

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A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)

Albus, J. S.·1975·Journal of Dynamic Systems, Measurement, and Control

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Abstract

CM AC is an adaptive system by which control functions for many degrees of freedom operating simultaneously can be computed by referring to a table rather than by mathematical solution of simultaneous equations. CM AC combines input commands and feedback variables into an input vector which is used to address a memory where the appropriate output variables are stored. Each address consists of a set of physical memory locations, the arithmetic sum of whose contents is the value of the stored variable. The CM AC memory addressing algorithm takes advantage of the continuous nature of the control function in a way which promises to make it possible to store the necessary data in a physical memory of practical size.

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Background

Authors: Albus, J. S.
Affiliations: National Institute of Standards and Technology (US)
Corresponding author: Albus, J. S.
Venue: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME International
Published: 1975-09-01
Volume: 97
Issue: 3
Pages: 220-227
ISSN: 0022-0434 (ISSN-L)
1528-9028
DOI: 10.1115/1.3426922
OpenAlex: W1993740947
Cited by: 2,177
References: 0
Citations by year: 2026: 9 · 2025: 18 · 2024: 18 · 2023: 19 · 2022: 21 · 2021: 19 · 2020: 30 · 2019: 39 · 2018: 44 · 2017: 59 · 2016: 33 · 2015: 38 · 2014: 55 · 2013: 58 · 2012: 63
FWCI: 1.57
Type: journal article
Language: en
Open access: closed
Locations: Journal of Dynamic Systems Measurement and Control (publishedVersion)
Topics: Physical Sciences › Computer Science › Artificial Intelligence › Neural Networks and Applications
Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
Physical Sciences › Computer Science › Artificial Intelligence › Fuzzy Logic and Control Systems
Keywords: cerebellar model articulation controller, CMAC, adaptive control, robot manipulator control, multivariable control, memory addressing, look-up table, feedback control, neural network control

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A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)

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