The technical details can be seen in the paper @article{liu2021adaptive, title={Adaptive bias RBF neural network control for a robotic manipulator}, author={Liu, Qiong and Li, Dongyu and Ge, Shuzhi Sam and Ji, Ruihang and Ouyang, Zhong and Tee, Keng Peng}, journal={Neurocomputing}, volume={447}, pages={213--223}, year={2021}, publisher={Elsevier} }