【摘要】 由于多节点机械手的动力学模型比较复杂，难以直接精确得到，因此提出了以优化小波神经网络的 在线辨识算法为基础的一种稳定的自适应跟踪控制算法。并将滑模控制与自适应控制结合起来，确保了它 的稳定性和跟踪精度。仿真结果表明该算法的性能是令人满意的．更多还原

【Abstract】 Due to the highly nonlinear and complex dynamics of multijointed robotic manipulators,a new adaptive racking control algorithm which employs an on-line identification technique based on the optimized wavelet neural networks is presented. Adaptive control is combined with sliding mode control to ensure the stability and tracking accuracy. The simulation results show that this algorithm is not only simple but also effective.更多还原