In this paper a neural adaptive control method has
been developed and applied to robot control. Simulation results are
presented to verify the effectiveness of the controller. These results
show that the performance by using this controller is better than
those which just use either direct inverse control or predictive
control. In addition, they show that the resulting is a useful method
which combines the advantages of both direct inverse control and
 Cembrano, G. and Wells, G. 1992. Neural Networks for Control,
Boulberg, L. Kr─▒jgsman, A. and Vingehoods, R. A. Application of
Artificial Intelligence in Process Control. Pergoman Pres, 388 - 402.
 Chen, L. and Narendra K. S. 2001. Nonlinear Adaptive Control Using
Neural Netwoks and Multiple Models. Automatica, 1245-1255.
 Hunt, K. J. Sbarbaro, D. Zbikowski , R. and Gawthrop, P. J. 1992.
Neural Networks for Control Systems - A Survey. Automatica, 28(6)
 Cichocki, A. Unbehauen, R. 1993. Neural Networks for Optimization
and Signal Processing. WILEY. Chichester .
 Freeman, L. A. Skapura, D. M. 1991.Neural Networks Algorithms
Applications and Programing Techniques Addison-Wesley.
 Noriega, J. R. and Wang, H. 1998. A Direct Adaptive Neural-Network
 Efe, M. ├û. ve Kaynak O. 2004. Yapay Sinir A─ƒlar─▒ ve Uygulamalar─▒.
Bo─ƒazi├ºi ├£niversitesi, 148s., ─░stanbul.
 Rivals, I. Personnaz, L. 2000. Nonlinear Internal Model Control sing
Neural Networks: Application to Process with Delay and Design Issues,
IEEE Transactions on Neural Networks, 11(1) pp 80-90.
 Wang, L. Wan, F. 2001. Structured Neural Networks for Constrained
Model Predictive Control. Automatica, 1235-1243.
 Lazar, M. and Pastavanu, O. 2002. A neural predictive controller for
non-linear systems, Mathematics and Computers in Simulation, 60 315-
 Denker, A. and Ohnishi, K. 1996. Robust Tracking Control of
Mechatronic Arms. IEEE/Asme Transact─▒ons on Mechatron─▒cs. 1(2),
 C─▒l─▒z, M. K. 2005. Adaptive Control of Robot Manipulators with Neural
Network Based Compensation of Frictional Uncertainties. Robotica, 23,
 Hagan, M. T. Demuth, H. B. and Beale, M. H. 1996. Neural Network
Design, University of Colorado, Colorado.