For the problem of parameter variation and nonlinear dynamic friction compensation, a recurrent-neural-network (RNN)-based adaptive-backstepping control (RNABC) for servo system was proposed.

• 针对伺服系统的系统参数摄动和非线性动态摩擦补偿问题,提出基于递归神经网络(RNN)的自适应反步控制(RNABC)系统设计方法。