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

提出了一种自适应反演滑模控制，并在Labview上实现，利用roboRIO可实现对2自由度脚踝康复机器人的实时控制。(An adaptive backstepping sliding mode control is proposed and implemented on Labview. The real-time control of 2 degree of freedom ankle rehabilitation robot can be realized by using roboRIO.