Sliding mode adaptive output feedback control of nonlinear systems using neural networks

An adaptive output feedback control scheme is proposed for the output tracking of a class of nonlinear systems represented by input-output models. By augmenting a series of integrators at the input side, the system is represented by the input, the output and their derivatives. Neural networks are used to adaptively compensate for the nonlinearities. Sliding mode and high order filters are presented in the adaptive controller design. By using Lyapunov´s stability theory, the global stability of the system is proven. Simulation results show the effectiveness of the proposed method.