中文摘要：

滑动模式控制的适应 backstepping 与输入浸透为不明确的非线性的系统的一个班被建议。一个命令过滤了途径被用来阻止输入浸透破坏神经网络(NN ) 的适应能力。控制法律和 NN 的适应更新法律在 Lyapunov 功能的意义被导出，因此稳定性能甚至在输入浸透下面被保证。建议控制法律对骚乱是柔韧的，并且它能也消除输入浸透的影响。模拟结果显示建议控制器有好表演。

英文摘要：

An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation. A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks （NNs）. The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function, so the stability can be guaranteed even under the input saturation. The proposed control law is robust against the disturbance, and it can also eliminate the impact of input saturation. Simulation results indicate that the proposed controller has a good performance.