CMAC and ANFIS for Nonlinear Modelling
نویسندگان
چکیده
Manipulator control is one of the main research areas in robotics, demanding for models with fast convergence and reliable stability for modelling and control. In this paper, the mechanisms of CMAC and ANFIS models for input space partitioning are analysed and their performance is compared to each other in terms of their abilities to model complex non-linear processes, with performance indexes such as accuracy, convergence speed, and computational cost. Meanwhile, some guides on how to choose model parameters are presented. Also, an analysis of the CMAC with linear functional weights is presented as an improvement to the CMAC model.
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