CMAC(Cerebellar Model Articulation Controller)和PD(Proportional Derivative)复合控制算法有时因输出不平滑会引起加载电机抖动而影响控制效果.通过对该输出不平滑问题进行分析,提出了一种新的提高输出平滑性的改进CMAC复合控制算法,该方法通过新的权值更新公式,在权值更新时直接达到减小误差和提高输出平滑性的目的.仿真和实验结果表明:改进后的算法能够有效提高输出平滑性,降低了21%的稳态误差,且保证在加载时有良好的稳定性和抗干扰能力. CMAC (Cerebellar Model Articulation Controller) and PD (Proportional Derivative) compound control algorithm may sometimes affect the control effect due to the jitter of the loading motor due to the output unevenness.By analyzing the problem of the output non-smoothness, a new method of improving the output smoothness The improved CMAC compound control algorithm, through a new weight update formula, can directly reduce the error and improve the output smoothness when the weights are updated.A simulation and experimental results show that the improved algorithm can effectively improve the output Smoothness, reduced by 21% of the steady-state error, and to ensure that when loaded with good stability and anti-interference ability.