Formulation of CMAC-fuzzy system

To get the input-output data for the identification of an optimum controller, it is necessary to ascertain the consistent intention underlying the possibly inconsistent actions of the human operator. To acquire the intention of the human operator, the authors propose a cerebellar model arithmetic computer (CMAC) fuzzy system to construct fuzzy inference rules that indicates the human intention. The algorithm to construct the fuzzy inference rules is described. The formulation of the CMAC fuzzy system is explained, and an application of the CMAC fuzzy system is shown by taking an example of a computer simulation of catching a moving object