Direct adaptive neural network control of nonlinear systems

This paper addresses the tracking control problem for a general class of nonlinear systems using neural networks (NN). The proposed controller ensures that the output of the system tracks any given reference signal which belongs to a known compact set. It is proven that the closed-loop system is semi-globally uniformly ultimately bounded type. In addition, if the approximate accuracy of the neural networks is high enough, an arbitrarily small tracking error can be achieved