研究了一种不确定性非线性系统的自适应输出反馈控制方法。首先引入伪控制信号使系统反馈线性化,然后设计一个线性动态补偿器和在线神经网络,自适应消除不确定性和建模所引起的误差。仿真结果表明,该控制方法能够消除系统的稳态误差,提高系统动态性能,并且具有较好的鲁棒性。 A kind of adaptive output feedback control method for uncertain nonlinear systems is studied. First, the pseudo-control signal is introduced to linearize the feedback of the system, and then a linear dynamic compensator and online neural network are designed to eliminate the errors caused by the uncertainty and modeling adaptively. Simulation results show that the proposed control method can eliminate the steady-state error of the system, improve the system dynamic performance, and has better robustness.