Trajectory tracking control method based on adaptive neural network high-order dynamic sliding mode

The invention discloses a trajectory tracking control method based on a self-adaptive neural network high-order dynamic sliding mode, and the method comprises the steps: firstly building a general n-order nonlinear system model, solving the problem of information explosion caused by inversion control through designing dynamic sliding mode control and a first-order filter, and achieving the control of the n-order nonlinear system model; and nonlinear disturbance of the estimation system is controlled based on the radial basis adaptive neural network. The stability of the proposed system is proved through a control method of Lyapunov proving design, finally, the control method is applied to a two-dimensional nonlinear flexible mechanical arm control system, trajectory tracking control over the flexible mechanical arm is achieved on the basis of measurement information of all joints under the condition of external nonlinear uncertain interference of the system, and the stability of the two-dimensional nonlinear