Inspec keywords: stability; adaptive control; neurocontrollers; discrete time systems; radial basis function networks; manipulator dynamics; variable structure systems; Lyapunov methods; tracking

Other keywords: tracking; robot manipulator; Lyapunov method; neurocontrol; dynamic nonlinearities; radial basis-function-networks; upper bound; adaptive control; variable structure control; stability; discrete time systems

Subjects: Manipulators; Multivariable control systems; Neurocontrol; Self-adjusting control systems; Discrete control systems; Stability in control theory; Neural nets