With respect to the complexit and high nonlinearity of the dynamic equations of the flexible manipulator,inversion design ideas are introduced in the control law design to decompose the original complex high-order nonlinear system into low-order simple systems.Considering that the existence of unknown nonlinear functions in the dynamic model and in order to effectively approximate the unknown function in the controlled object,proposes a control method integrating radial basis function(RBF)neural network with inversion control ideas.The simulation results show that the control law and adaptive law designed based on the RBF neural network backstepping control can achieve the stability of the control system and abtain the expected dynamic performance indicators.
国家科技期刊平台
NSTL
维普
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