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论文类型：期刊论文

发表时间：2009-05-26

发表刊物：Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

收录刊物：EI、CPCI-S、Scopus

卷号：5553 LNCS

期号：PART 3

页面范围：178-187

ISSN号：3642015123

关键字：Chebyshev polynomials; Orthogonal neural network; Robot manipulators; Lyapunov stability theory

摘要：In this paper, an orthogonal functions neural network is used to achieve the control of nonlinear systems. The adaptive controller is constructed by using Chebyshev orthogonal polynomials neural network, which has advantages such as simple structure and fast convergence speed. The adaptive learning law of orthogonal neural network is derived to guarantee that the adaptive weight errors and tracking errors are bound by using Lyapunov stability theory. Simulation results are given for a two-link robot in the end of the paper, and the control scheme is validated. © 2009 Springer Berlin Heidelberg.