Generalizing CMAC architecture and training

The cerebellar model articulation controller (CMAC) is a simple and fast neural-network based on local approximations. However, its rigid structure reduces its accuracy of approximation and speed of convergence with heterogeneous inputs. In this paper, we propose a generalized CMAC (GCMAC) network that considers different degrees of generalization for each input. Its representation abilities are analyzed, and a set of local relationships that the output function must satisfy are derived. An adaptive growing method of the network is also presented. The validity of our approach and methods are shown by some simulated examples.