Digital Signal Processing Reference
In-Depth Information
= Reference input at step
k,
= Plant output at step
k -
1,
= Contents of CMAC cell with coordinates
i,j
at step k, and
= Quantization function defined by equation (1).
2.
MODIFIED CMAC (MCMAC) STRUCTURE
The
Modified CMAC
architecture, abbreviated by MCMAC, has been
proposed [3] to overcome this problem by using the plant closed loop error
and the plant output during the training. This allows on-line
training as well as ease in the planning of the training trajectory. The training
path can now be more directly controlled using the reference plant
input The proposed MCMAC block diagram is depicted in Figure
8-3.
Figure 8-3.
Proposed Modified Cerebellar Machine Articulation Controller (MCMAC).
The architecture of the proposed MCMAC is quite similar to a CMAC,
except that the quantized closed loop error is employed, which is simply:
This error signal and the plant output point to a two-dimensional
MCMAC memory array instead of the original and
in the CMAC configuration. The learning rule for this modified architecture
can be formulated by the following set of equations:
