The invention belongs to the field of
automatic control, and particularly relates to a
nonlinear system dynamic
gain global trajectory tracking control method based on a self-adaptive neural network observer, which comprises the following steps: converting an uncertain
nonlinear system model with unknown interference according to the requirement of
output feedback control to obtain a first
nonlinear system model; enabling an unknown nonlinear continuous function in the first nonlinear
system model to be expressed as a function only containing an output
signal and other
system state
estimation values; performing approximate approximation on an unknown nonlinear continuous function in the first nonlinear
system model by using the first
radial basis function neural network vector to obtain a second nonlinear
system model; designing a second
radial basis function neural network vector to construct a dynamic
gain state observer of the second nonlinear
system model, and obtaining an estimated value of a system state and an estimated value of an unknown nonlinear continuous function in the model; according to an inversion control method, defining a dynamic system
tracking error index containing an intermediate
virtual control signal, designing a
Lyapunov function, and obtaining a change rate of a dynamic
gain, a weight adaptive update rate of a second
radial basis function neural network vector, and a control rate of the intermediate
virtual control signal and a system input signal; different from most existing nonlinear system control methods, the method combines a novel dynamic gain neural network observer with an inversion controller with dynamic gain, and provides a robust global trajectory tracking control solution for a dynamic system operating under uncertain conditions.