This hinders the improvement of its self-adaptive ability.In this paper, fuzzy theory is introduced to CMAC, and a fuzzy cerebellar model articulation controller (FCMAC) is proposed.

• 本文将模糊理论引入CMAC，提出了一种能够反映人类小脑认知的模糊性和连续性的模糊小脑模型关节控制器(FCMAC)。