Therefore, a parallel control method of compound orthogonal neural network(CONN) and PID is presented, and is compared with a parallel control of CMAC and PID in manipulator neural network controls.

• 为此在机械臂的神经网络控制中,该文提出复合正交神经网络(CONN)与PID并行控制方法,并对小脑模型(CMAC)与PID并行控制作一比较研究。