研究一类不确定严反馈非线性系统的跟踪控制问题.通过采用单一神经网络逼近系统的所有未知部分,提出一种新的鲁棒自适应控制设计方法.该方法能直接给出实际控制律和自适应律,有效地解决现有方法中存在的控制设计复杂和计算负担重等问题.稳定性分析表明,闭环系统所有信号是半全局一致最终有界的,并且通过调整控制参数可使跟踪误差任意小.仿真结果验证了所提出方法的有效性.The problem of tracking control is studied for a class of uncertain strict-feedback nonlinear systems.A new robust adaptive control design approach is presented by approximating all the unknown parts of the system with a single neural network.By using this approach,the actual control law and the adaptive law of the controller can be given directly,and the problems,such as control design complexity and high computational burden,are dealt with effectively.The stability analysis shows that the closed-loop system signals are semi-globally uniformly ultimately bounded,and the tracking error can be made arbitrary small by choosing control parameters.Simulation results show the effectiveness of the proposed approach.国家自然科学基金项目(61074017;61074004;61273137;51209026); 辽宁省高等学校优秀人才支持计划项目(2009R06); 中央高校基本科研业务费项目(017004
