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Abstract. A multilayer neural net (NN) controller for a general serial-link robot arm is developed. The structure of the NN controller is derived using a filtered error approach. It is argued that standard backpropagation tuning, when used for real-time closed-loop control, can yield unbounded NN weights if: (1) the net can not exactly reconstruct a certain required control function, (2) there are bounded unknown disturbances in the robot dynamics, or (3) the robot arm has more than one link (i.e. nonlinear case). On-line weight tuning algorithms including correction terms to backpropagation, plus an added robustifying signal, guarantee tracking as well as bounded weights. The correction terms involve a second-order forwardpropagated wave in the backprop network.

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