A simple and converged structure of addressing technique for CMAC_GBF

This paper proposed a simple and converged structure of addressing technique for CMAC_GBF (cerebellar model articulation controller with general basis function). The structure of addressing technique for original CMAC_GBF has two major problems: one is the structure of addressing technique does not have a fixed procedure to find it, the other is the memory size growing too large in the high dimension input space systems. In this paper, the procedure to find the simple structure is developed. The mathematical basis for this simple structure is derived and the learning convergence is guaranteed. Simulations for the simple structure of CMAC_GBF are performed to demonstrate the learning performance and the capability in reducing the memory size of system.