Continuous CMAC-QRLS and Its Systolic Array

Authors:
Ting Qin;Haitao Zhang;Zonghai Chen;Wei Xiang
Affiliations:
Department of Automation, University of Science and Technology of China, Hefei, P.R. China 230027;Department of Automation, University of Science and Technology of China, Hefei, P.R. China 230027;Department of Automation, University of Science and Technology of China, Hefei, P.R. China 230027;Department of Automation, University of Science and Technology of China, Hefei, P.R. China 230027
Venue:
Neural Processing Letters
Year:
2005

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Abstract

Conventionally, least mean square rule (LMS) is used to update the weights of cerebellar model articulation controller (CMAC). The algorithm of CMAC-RLS which applies recursive least square algorithm (RLS) to update the weights of CMAC has proved to be a good tool for modeling on line. Based on QR decomposition, a simplified algorithm of CMAC-RLS named CMAC-QRLS is brought forward next and its corresponding systolic array is also designed. Combining with B-splines, we further devise the systolic array of continuous CMAC-QRLS. The simulation results reveal the good performance of this proposed algorithm.