Wavelet Neural Network Disturbance Observer-based Adaptive Robust Tracking Control for Servo System

This paper presents an adaptive robust control approach of the nonlinear systems using a wavelet neural network disturbance observer (WNNDOB).The proposed WNNDOB based on multiresolution analysis theory is used to estimate external disturbance and internal parameter uncertainties. Novel update and control laws are proposed to guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded (UUB) in the sense of Lyapunov. In addition, a robust compensator is designed to improve the tracking performance. Finally, a computer simulation example is presented to illustrate the effectiveness and the applicability of the suggested method.