Fuzzy system and CMAC network with B-spline membership/basis functions are smooth approximators (Q706591)

Due to their universal approximation, fuzzy systems with B-spline membership functions and Cerebellar Model Articulation Controller (CMAC) neural networks with B-spline basis functions have been extensively used in control. In many practical applications, they are desired to approximate not only the assigned smooth function but also its derivatives. Here, by designing a fuzzy system and CMAC neural network with B-spline basis functions, the authors prove that such a fuzzy system and CMAC can universally approximate a smooth function and its derivatives, i.e., for a given accuracy, one can approximate an arbitrary smooth function by such a fuzzy system and CMAC so that not only the function is approximated within this accuracy, but its derivatives are approximated as well. Therefore, this CMAC can be extensively used in robot control and other automatic control domains. The authors here provided solid theoretical foundation for their extensive applications.