Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 7

State diagram of Elman network (a) and network structure (b) where is input vector, is state vector, is output vector, NHL is nonlinear hidden layer, LHL is linear hidden layer, is unit delay, is input layer weight matrix, is context layer weight matrix, is hidden layer weight matrix, is th neuron bias in th layer, and is network output.