A robust adaptive tracking controller using neural networks for a class of nonlinear systems

A neural networkbased robust adaptive tracking control scheme is proposed for a class of nonlinear systems. It is shown that, unlike most neural control schemes using the back-propagation training technique, one hidden layer neural controller is designed in the Lyapunov sense, and the parameters of the neural controller are then adaptively adjusted for the compensation of unknown dynamics and nonlinearities. Using this scheme, not only strong robustness with respect to unknown dynamics and nonlinearities can be obtained, but also asymptotic error convergence between the plant output and the reference model output can be guaranteed. A simulation example based on a one-link non-linear robotic manipulator is given in support of the proposed neural control scheme.