Design and Application of Adaptive Cerebellar Model Articulation Controller Chih-Min Lin Professor and Chairman Department of Electrical Engineering, Yuan Ze University, Taiwan Abstract Many conventional automatic control system design technologies have successfully dealt with a large class of control problems by generating associative control efforts based on the mathematical model of dynamic systems. However, mathematical models tend to become complex and nonlinear so that they can¡¦t be solved by conventional control technologies. Besides, most of the industrial processes whose reference models are unavailable due to the system noises and environmental disturbances. An alternative way to deal with the problem is to combine the conventional control theory with the neural networks (NNs). The applications of the NNs for identification and control of dynamic systems have received a considerable attention over the several years. The most useful property of NNs is their ability to uniformly approximate arbitrary input-output linear or nonlinear mappings. 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, many mathematical models of neural networks have been proposed to perform useful computational functions in different applications. Among these NN models, a theoretical model used to explain the information-processing characteristics of the cerebellum was developed independently by Marr (1969) and Albus (1971). CMAC, first proposed by Albus, signifies cerebellar model articulation controller. 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 realize complex nonlinear functions. CMAC takes advantage of the input-redundancy by using distributed storage and can learn nonlinear functions extremely quickly due to the local adjustment of its weights. CMAC has been applied in the closed-loop control of complex dynamical systems for the reason of good generalization capability and fast learning property. This talk will introduce a cerebellar model articulation controller (CMAC) first and then proposes the design of the adaptive cerebellar model articulation controller. In this design, the adaptive laws are derived based on the Lyapunov function to learn the weights of CMAC, so that the stability of control system can be guaranteed. Finally, this talk will provide a comprehensive treatment of adaptive CMAC in closed-loop control applications; including chaotic circuit control, robotic manipulator control, guidance law design and linear piezoelectric ceramic motor control. From the simulation and experimental results, the proposed adaptive CMAC control techniques have been shown to achieve favorable control performance for the considered systems. About the Speaker: Chih-Min Lin Professor and Chairman Department of Electrical Engineering, Yuan Ze University, Taiwan Awards 1. The Outstanding Automatic Control Award, Chinese Automatic Control Society (2006). 2. The Service Medal, The Executive Yuan (2006). 3. The Outstanding Professor, Far Eastern Y Z Hsu Memorial Foundation (2006). 4. The Best Research Award, National Science Council (2005) 5. The Outstanding Research Professor, Yuan-Ze University (1999, 2000, 2002, 2006). 6. Research Award, National Science Council (1996-2004). 7. National Defense Medal, Ministry of National Defense (1990) (For the distinguished contribution in developing the Hsiun-Fong II missile). 8. Youth Research and Invention Award, Ministry of Education (1986). Activities and Honors 1. Co-chair and Committee Member, 2007 International Multi-Conference of Engineers and Computer Scientists (IMECS). 2. Accreditation Member, IEET Accreditation Council (2006-). 3. Accreditation Member, High Education Accreditation Council for Universities (2006-). 4. Co-Chair, International Association of Engineers (IAENG) Society of Electrical Engineering (2006-). 5. 2006 IEEE International Conference on Systems, Man, and Cybernetics, Committee Member. 6. Co-chair and Committee Member, International Multi-Conference of Engineers and Computer Scientists (IMECS) (2006). 7. Editorial Board, International Journal of Contemporary Mathematical Science (2005-). 8. Council Member, Taiwan Society of Systems Engineering and Management (2005-). 9. Council Member, Fuzzy Society of Taiwan (2005-). 10. Committee Member, IEEE Conference on Control Applications (2004). 11. Project Review Committee Member, Control Branch of National Science Council (1998-2000, 2002-2005). 12. Planning Member, Control Branch of National Science Council (1998, 2004). 13. Review Member, The Patent Office (2003-). 14. Examination Committee Member, Public Oversea Studying Award, Ministry of Education (2001). 15. Examination Member, The Examination Yuan. 16. Council Member, Chinese Automatic Control Society (2000-). 17. Deputy Chairman, IEEE Control Systems Society, Taipei Section (1999-2000). 18. IEEE Senior Member (1999). 19. Outstanding Achievement Awards, International Biographical Center, Cambridge, England (1999) 20.Listed in Who¡¦s in the World (1998). 21. Executive Secretary, IEEE Control Systems Society, Taipei Section (1995-1996), Publications: 81 Journal papers and 117 Conference papers