Adaptive control for a class of non-affine nonlinear system using wavelet neural networks

In this paper, adaptive wavelet neural network control (AWNNC) is proposed for a class of non-affine nonlinear systems with unknown nonlinearities. The adaption laws of the system are derived in the sense of Lyapunov function and Barbalet´s lemma. Thus, the stability of the closed loop system is ensured and the tracking error asymptotically converges to zero. To show the effectiveness of the proposed scheme, a Van der Pol oscillator system is chosen as a case study. Simulation results show that the proposed controller can achieve good tracking performance and all the signals in the closed loop system are bounded.