曲阜师范大学学报（自然科学版）2025，Vol.51Issue(4)：20-28,9.DOI:10.3969/j.issn.1001-5337.2025.4.020
基于全驱系统方法的严格反馈高阶非线性系统的神经网络自适应控制
Fully actuated system approach-based neural network adaptive control of strict feedback high-order nonlinear systems
摘要
Abstract
This paper investigates the neural network adaptive control problem for strict-feedback high-order nonlinear systems using the fully-actuated system approach.Firstly,a novel coordinate transforma-tiontechnique is introduced to construct an adaptive controller capable of handling strict-feedback high-or-der systems based on the fully-actuated system method.This approach eliminates the need for system transformation into first-order systems,thereby reducing computational complexity.Secondly,considering the system uncertainties and unknown nonlinear functions with prior knowledge limitations,radial basis function neural network approximation technique is incorporated to achieve online estimation andcompen-sation of complex uncertain terms.Finally,the boundedness of all closed-loop signals is rigorously proven through Lyapunov stability theory.The effectiveness of the proposed control strategy is further validated through application to a single-link robotic arm system,demonstrating the practical viability of the scheme.关键词
全驱系统方法/神经网络/反步技术Key words
fully actuated system approach/neural network/backstepping technology分类
数理科学引用本文复制引用
闫城源,夏建伟..基于全驱系统方法的严格反馈高阶非线性系统的神经网络自适应控制[J].曲阜师范大学学报（自然科学版）,2025,51(4):20-28,9.基金项目
国家自然科学基金(62373178). （62373178）
