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基于文 [1 ]所给的新型 CMAC神经网络提出了一种机器人鲁棒控制策略 ,给出了新的网络权系数修正律 ,利用 Lyapunov稳定性理论得出了系统稳定性充分条件 ,计算机仿真结果说明本文给出的鲁棒控制策略是有效的
Based on the new CMAC neural network given in [1], a robot robust control strategy is proposed. A new correction law of network weight coefficients is given. The sufficient conditions of the system stability are obtained by the Lyapunov stability theory. The computer simulation results It shows that the robust control strategy given in this paper is effective