中文摘要：

针对一类不确定非线性MIMO（multiple—input multiple—output）系统，在动态面控制方法的基础上，提出了自适应跟踪控制方案．通过引入性能函数和输出误差转换，保证输出信号具有指定的跟踪速度、跟踪误差、最大超调量．为了避免控制奇异问题，采用神经网络直接逼近期望控制信号．该方案无需估计神经网络的权值，仅对1个参数进行自适应律设计．理论证明了闭环系统所有信号有界，仿真结果验证了所提方案的有效性．

英文摘要：

An adaptive tracking control scheme is proposed for a class of uncertain nonlinear MIMO （multiple-input multiple-output） systems based on dynamic surface control method. Performance function and output error transformation are employed to guarantee that the output signals have the prespecified control indexes of output tracking speed, tracking error, overshoot, etc. In order to avoid control singularity problem, neural network is used to approximate desired intermediate control signals directly. Instead of estimating all the weights of the neural network, only one parameter＇s adaptive law needs to be designed. It is proved theoretically that all signals of the closed-loop system are bounded. Simulation results verify the effectiveness of the proposed scheme.