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Stable Adaptive Neural Control of a Robot Arm

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Figure

Figure 1. Structure of the indirect neural network control, the dimension of of Y(t), Y(t) and (t) is NOUT, the dimension U(t) is NIN
Figure 4. Spherical-coordinates.
Figure 5. Experiment results of closed loop system with the adaptation algorithm: (a) and (b) θZoom 1: Tracking of the disturbed reference

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