Decentralized neural identification and control for uncertain nonlinear systems: Application to planar robot

This paper presents a discrete-time decentralized neural identification and control for large-scale uncertain nonlinear systems, which is developed using recurrent high order neural networks (RHONN); the neural network learning algorithm uses an extended Kalman filter (EKF). The discrete-time control law proposed is based on block control and sliding mode techniques. The control algorithm is first simulated, and then implemented in real time for a two degree of freedom (DOF) planar robot.