國立臺灣師範大學機電工程學系Yeh, Zong-Mu2014-10-302014-10-301994-06-270-7803-1901-Xhttp://rportal.lib.ntnu.edu.tw/handle/20.500.12235/36897This paper presents a stability method which is based on the stability condition of sliding mode control to derive the learning law for neural net controllers (NNC) to ensure the convergence of the training algorithm and the stability of the closed-loop system. The proposed method is an online approach of a multilayered neural network which does not require any information about the system dynamics, and the lengthy training of the controller can be eliminated by using the proposed approach. The simulation results of a nonlinear system and a two-link manipulator demonstrate that the attractive features of the proposed approach include a smaller residual error and robustness against nonlinear interactions of an interconnected system or external disturbances.http://www.ieee.org/index.html