Adaptive Neural Network Control of Nonlinear Systems with Unmodeled Dynamics

A robust adaptive neural network (NN) control scheme is proposed for a class of nonlinear systems with unknown control gain functions and unmodeled dynamics. The proposed design method expands the class of nonlinear systems for which adaptive neural network control approaches have been studied. By a special design scheme, the controller singularity problem is avoided. The developed NN control scheme achieves uniform ultimate boundedness of all the signals in the closed-loop system and steers the output to a small neighborhood of the origin. Simulation study is provided to verify the theoretical results