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 for a class of nonlinear systems with uncertain feedback is studied. A new robust adaptive control design method is proposed by using a single neural network to approximate all the unknown parts of the system. This method can directly give the actual control law and The adaptive law effectively solves the problems of complicated control design and heavy computational burden existing in the existing methods.The stability analysis shows that all the signals in the closed-loop system are semi-globally uniform and finally bounded, and by adjusting the control parameters, the tracking error Arbitrarily small.The simulation results verify the effectiveness of the proposed method.