【摘要】 讨论了一个模糊神经网络自适应控制器的设计问题。设计思想是基于系统的变结构原理，并利用模糊逻辑来处理系统的不确定性，然后使用具有学习功能的神经网络来实现自适应控制。所设计的控制器应用于一大类高维机器人系统，即使在显著但未知摩擦阻尼的环境中仍能获得十分满意的轨道追踪效果。更多还原

【Abstract】 Based on the sliding mode principle,an adaptive controller with fuzzy logic to handle system modeling uncertainties is developed With a neural network learning scheme enhancing the adaptive control capability,the controller may perform satisfactory tracking control for a large class of robot models containing significant but unknown friction and disturbance Both mathematical analysis and computer simulation are enclosed for demonstration更多还原