基于逆动力学控制的思想，提出一种RBF神经网络逆控制与PID控制相结合的在线自学习控制方案。

Based on the thought of inverse system control, a method of on-line self-learning control strategy was proposed, which combines inverse control based on RBF neural network with PID control.

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本文根据模型参考自适应控制理论，将旋转动力学逆与在线神经网络结合，设计了自适应姿态控制系统。

An adaptive neural network attitude control system is designed based on model reference adaptive control theory and combination of online neural network with augmented model inversion in this paper.

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