The improved CMAC model and learning result analysis

Abstract

An improved neural networks online learning scheme is proposed to speed up the learning process in cerebellar model articulation controllers(CMAC). The improved learning approach is to use the learned times of the addressed hypercubes as the credibility (confidence) of the learned values in the early learning stage, and the updating data for addressed hypercubes is proportional to the inverse of the exponent of learned times, in the later stage the updating data for addressed hypercubes is proportional to the inverse of learned times. With this idea, the learning speed can indeed be improved. © Springer-Verlag Berlin Heidelberg 2005.