Design of a Robust Adaptive Neural Tracking Controller

A robust neural tracking controller is designed based on the conic sector theory. An adaptive dead zone scheme is employed to enhance robustness of the system. The proposed algorithm does not require knowledge of either the upper bound of disturbance or the bound on the norm of the estimate parameter. A complete convergence proof is provided based on the sector theory to deal with the nonlinear system. Simulation results are presented to control a two-link direct drive robot and show the performance of the tracking controller.