RESEARCH ON NEURAL NETWORK ADAPTIVE CONTROLLER OF AFFINE NONLINEAR SYSTEM AND ITS APPLICATION IN ROBOT CONTROL

A control law is presented in this paper, which uses neural network technique to approximate the affine nonlinear system having unknown or uncertain dynamics and noise disturbances.An adaptive control law to adjust the network parameters on-line is adopted and the control value is chosen according to- H-∞--control theory to attenuate the disturbance. This control law is applied to a two link robot manipulator, and simulation results show its validity.