Dynamic feedback control of unknown nonlinear systems using dynamic neural networks

In this paper, some new schemes of dynamic neural networks (DNNs) are proposed to design robust learning control systems for a general class of multi-input and multi-output (MIMO) nonlinear systems with unknown dynamics. The detailed structure of the DNNs and their learning capability are first discussed. The synthesis and design methods for output tracking control are then conducted. Based on the DNNs approaches presented in this paper, a torque control scheme for robot manipulators is developed. The potentials of this scheme are demonstrated by simulation studies