本文采用RBF神经网络控制对双杆机器人进行参数辨识得到其控制模型后，采用PD控制机器人。-In this paper, the RBF neural network to identify the parameters to get the control model of the double-pole robot control, PD control the robot.

In this paper, an orthogonal functions neural network is used to achieve the control of nonlinear systems. The adaptive controller is constructed by using Chebyshev orthogonal polynomials neural network, which has advantages such as simple stru

第三章：机器人神经网络自适应控制 基于模型不确定补偿 基于模块逼近(Chapter 3: adaptive control of robot neural network Model uncertainty compensation Module approximation)