Plenary Lecture

Application of Adaptive Cerebellar Model Articulation Controller in Control Problem

Prof. Chih-Min Lin
Chairman and Professor
Department of Electrical Engineering, Yuan-Ze University
Chung-Li, Tao-Yuan, 320, Taiwan
Tel: 886-3-4638800 ext 2418
Fax: 886-3-4639355
E-mail:cml@saturn.yzu.edu.tw
 

Abstract: Based on biological prototype of human brain and improved understanding of the functionality of the neurons and the pattern of their interconnections in the brain, a theoretical model used to explain the information-processing characteristics of the cerebellum was developed independently by Marr (1969) and Albus (1971). Cerebellar model articulation controller (CMAC) was first proposed by Albus. CMAC is a learning structure that imitates the organization and functionality of the cerebellum of the human brain. That model revealed the structure and functionality of the various cells and fibers in the cerebellum. The core of CMAC is an associative memory which has the ability to approach complex nonlinear functions. CMAC takes advantage of the input-redundancy by using distributed storage and can learn nonlinear functions extremely quickly due to the on-line adjustment of its system parameters. CMAC is classified as a non-fully connected perceptron-like associative memory network with overlapping receptive-fields. It has good generalization capability and fast learning property and is suitable for on-line application of control systems.
This talk introduces several CMAC-based adaptive control systems; these control systems combine the advantages of CMAC identification, adaptive control and robust control techniques. In these systems, the on-line parameter training methodology, using the gradient descent method and the Lyapunov stability theorem, is proposed to increase the learning capability. Moreover, the applications of these systems in control problems are demonstrated. Simulation results illustrate that the introduced CMAC-based control systems can achieve favorable control performance.

Brief Biography of the Speaker:
Prof. Chih-Min Lin is currently a Professor and the Chairman of the Department of Electrical Engineering, Yuan-Ze University, Taiwan. He also serves as the Committee Member of National Science Council, Control Branch; Chinese Automatic Control Society; Taiwan Fuzzy System and Science Society; and Taiwan Systems Engineering Society. During 1986-1992, he was with the Chung Shan Institute of Science and Technology as a Deputy Director of system engineering. He joined the faculty of the Department of Electrical Engineering, Yuan-Ze University, Taiwan, in 1993. During 1997-1998, he was the honor research fellow in the University of Auckland, New Zealand. He has served as the Deputy Chairman of IEEE Control Systems Society, Taipei Chapter in 1999-2000, now he is an IEEE Senior Member.

Prof. Lin’s research interests include fuzzy neural network, cerebellar model articulation controller, control system and systems engineering. He has published 84 journal papers and 120 conference papers. He has been awarded with the outstanding research professor and chair professor. He has given several plenary lectures and invited talks and served as the committee member in several international conferences. Now he also serves as the editorial board of 4 international journals.