{"id":"https://openalex.org/W2159784303","doi":"https://doi.org/10.1109/tsmcb.2009.2030334","title":"Standalone CMAC Control System With Online Learning Ability","display_name":"Standalone CMAC Control System With Online Learning Ability","publication_year":2009,"publication_date":"2009-11-05","ids":{"openalex":"https://openalex.org/W2159784303","doi":"https://doi.org/10.1109/tsmcb.2009.2030334","mag":"2159784303","pmid":"https://pubmed.ncbi.nlm.nih.gov/19884060"},"language":"en","primary_location":{"id":"doi:10.1109/tsmcb.2009.2030334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2009.2030334","pdf_url":null,"source":{"id":"https://openalex.org/S4210170378","display_name":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","issn_l":"1083-4419","issn":["1083-4419","1941-0492"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5013007750","display_name":"Ming\u2010Feng Yeh","orcid":null},"institutions":[{"id":"https://openalex.org/I50519452","display_name":"Lunghwa University of Science and Technology","ror":"https://ror.org/001y2wd07","country_code":"TW","type":"education","lineage":["https://openalex.org/I50519452"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Feng Yeh","raw_affiliation_strings":["Department of Electrical Engineering, Lunghwa University of Science and Technology, Taoyuan 33327, Taiwan. mfyeh.hinet@msa.hinet.net","Department of Electrical Engineering, Lunghwa University of Science and Technology, Taoyuan, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Lunghwa University of Science and Technology, Taoyuan 33327, Taiwan. mfyeh.hinet@msa.hinet.net","institution_ids":["https://openalex.org/I50519452"]},{"raw_affiliation_string":"Department of Electrical Engineering, Lunghwa University of Science and Technology, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I50519452"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101975200","display_name":"Cheng-Hung Tsai","orcid":"https://orcid.org/0000-0003-3419-2146"},"institutions":[{"id":"https://openalex.org/I2753814022","display_name":"China University of Science and Technology","ror":"https://ror.org/03sfb9j07","country_code":"TW","type":"education","lineage":["https://openalex.org/I2753814022"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Cheng-Hung Tsai","raw_affiliation_strings":["Department of Electrical Engineering, China University of Science and Technology, Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, China University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I2753814022"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.3218,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.98471677,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"40","issue":"1","first_page":"43","last_page":"53"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9925000071525574,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9695000052452087,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/cerebellar-model-articulation-controller","display_name":"Cerebellar model articulation controller","score":0.9644886255264282},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7430172562599182},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7152849435806274},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6466299295425415},{"id":"https://openalex.org/keywords/differentiable-function","display_name":"Differentiable function","score":0.6356518864631653},{"id":"https://openalex.org/keywords/offline-learning","display_name":"Offline learning","score":0.5837496519088745},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5679415464401245},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5403651595115662},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.49118325114250183},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.48170214891433716},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.41910526156425476},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4139411747455597},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.41230183839797974},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3945232629776001},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38524141907691956},{"id":"https://openalex.org/keywords/online-learning","display_name":"Online learning","score":0.2872581481933594},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2799380421638489},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2416723370552063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15516632795333862}],"concepts":[{"id":"https://openalex.org/C2780576740","wikidata":"https://www.wikidata.org/wiki/Q5064071","display_name":"Cerebellar model articulation controller","level":3,"score":0.9644886255264282},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7430172562599182},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7152849435806274},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6466299295425415},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.6356518864631653},{"id":"https://openalex.org/C2780490138","wikidata":"https://www.wikidata.org/wiki/Q7079636","display_name":"Offline learning","level":3,"score":0.5837496519088745},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5679415464401245},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5403651595115662},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.49118325114250183},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.48170214891433716},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.41910526156425476},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4139411747455597},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.41230183839797974},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3945232629776001},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38524141907691956},{"id":"https://openalex.org/C2986087404","wikidata":"https://www.wikidata.org/wiki/Q15946010","display_name":"Online learning","level":2,"score":0.2872581481933594},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2799380421638489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2416723370552063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15516632795333862},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tsmcb.2009.2030334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmcb.2009.2030334","pdf_url":null,"source":{"id":"https://openalex.org/S4210170378","display_name":"IEEE Transactions on Systems Man and Cybernetics Part B (Cybernetics)","issn_l":"1083-4419","issn":["1083-4419","1941-0492"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)","raw_type":"journal-article"},{"id":"pmid:19884060","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/19884060","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1889531669","https://openalex.org/W1964809733","https://openalex.org/W1970923058","https://openalex.org/W1998586982","https://openalex.org/W2006392442","https://openalex.org/W2012702055","https://openalex.org/W2013815893","https://openalex.org/W2027956314","https://openalex.org/W2043426813","https://openalex.org/W2050965274","https://openalex.org/W2075788686","https://openalex.org/W2088447802","https://openalex.org/W2098053045","https://openalex.org/W2103441694","https://openalex.org/W2104346286","https://openalex.org/W2105675214","https://openalex.org/W2112317672","https://openalex.org/W2118778595","https://openalex.org/W2127919919","https://openalex.org/W2127946960","https://openalex.org/W2136838997","https://openalex.org/W2137748719","https://openalex.org/W2139891695","https://openalex.org/W2141747315","https://openalex.org/W2162987681","https://openalex.org/W2164063421","https://openalex.org/W2167066607","https://openalex.org/W2168851497","https://openalex.org/W2170143795","https://openalex.org/W2302808317"],"related_works":["https://openalex.org/W2109289736","https://openalex.org/W4285277090","https://openalex.org/W2355060733","https://openalex.org/W2159784303","https://openalex.org/W4285999659","https://openalex.org/W1666294236","https://openalex.org/W2535819102","https://openalex.org/W2112838028","https://openalex.org/W2774684278","https://openalex.org/W2170805799"],"abstract_inverted_index":{"A":[0],"cerebellar":[1],"model":[2],"articulation":[3],"controller":[4,13,30,41,52],"(CMAC)":[5],"control":[6,35,56],"system,":[7],"which":[8],"contains":[9],"only":[10],"one":[11],"single-input":[12,50],"implemented":[14],"by":[15,95],"a":[16,45,96,113],"differentiable":[17,69],"CMAC,":[18],"is":[19,31,42,76,93],"proposed":[20,26,149],"in":[21,131],"this":[22,132],"paper.":[23,133],"In":[24],"the":[25,28,36,49,55,59,68,72,80,86,91,101,119,123,126,145,148],"scheme,":[27],"CMAC":[29,51,70],"solely":[32],"used":[33],"to":[34,58,78,90,107,143],"plant,":[37,87],"and":[38],"no":[39],"conventional":[40],"needed.":[43],"Without":[44],"preliminary":[46],"offline":[47],"learning,":[48],"can":[53,104],"provide":[54],"effort":[57],"plant":[60],"at":[61],"each":[62],"online":[63],"learning":[64,81,102,120],"step.":[65],"To":[66],"train":[67],"online,":[71],"gradient":[73],"descent":[74],"algorithm":[75],"employed":[77],"derive":[79],"rules.":[82],"The":[83],"sensitivity":[84],"of":[85,125,147],"with":[88],"respect":[89],"input,":[92],"approximated":[94],"simple":[97],"formula":[98],"so":[99],"that":[100],"rules":[103],"be":[105],"applied":[106],"unknown":[108],"plants.":[109],"Moreover,":[110],"based":[111],"on":[112,118,136],"discrete-type":[114],"Lyapunov":[115],"function,":[116],"conditions":[117],"rates":[121],"guaranteeing":[122],"convergence":[124],"output":[127],"error":[128],"are":[129,141],"derived":[130],"Finally,":[134],"simulations":[135],"controlling":[137],"three":[138],"different":[139],"plants":[140],"given":[142],"demonstrate":[144],"effectiveness":[146],"controller.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}