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.
Keywords
Cerebellar model articulation controllerComputer scienceController (irrigation)Control theory (sociology)Variable (mathematics)Table (database)Set (abstract data type)Degrees of freedom (physics and chemistry)Function (biology)Control (management)Control engineeringArtificial intelligenceMathematicsEngineeringData mining
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Publication Info
- Year
- 1975
- Type
- article
- Volume
- 97
- Issue
- 3
- Pages
- 220-227
- Citations
- 2167
- Access
- Closed
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Cite This
James S. Albus
(1975).
A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC).
Journal of Dynamic Systems Measurement and Control
, 97
(3)
, 220-227.
https://doi.org/10.1115/1.3426922
Identifiers
- DOI
- 10.1115/1.3426922