中文摘要：

提出一种基于小波神经网络（WNN）的自适应反推控制策略，该策略通过对系统中的非线性不确定性进行估计和补偿，可以自适应调节反推控制器的输出，以获得良好的位置跟踪效果和对各类不确定性的鲁棒作用。设计中通过李雅普诺夫稳定性原理保证了整个系统的稳定性并给出了证明。经理论分析和通过与PI控制器及传统反推法的对比仿真的结果证明了该方法的有效性。

英文摘要：

An adaptive backstepping control scheme based on WNN（Wavelet Neural Network） is proposed for PMSM（Permanent Magnetic Synchronous Motor） control system,which,being robust to all kinds of uncertainties,evaluates and compensates the nonlinear uncertainty existing in the system,and adaptively adjusts the outputs of backstepping controller to obtain good position tracking performance. The overall system stability is ensured by applying Lyapunov theory in the design. The effectiveness of the proposed control scheme is verified by the theoretical analysis and simulative comparisons with PI controller and traditional backstepping controller.