Tracking control for a class of unknown nonlinear systems based on LS-SVM

A LS-SVM based adaptive tracking control approach is presented for a class of unknown nonlinear dynamic systems in this paper. Based on input/output feedback linearization approach, the nonlinear system is transformed into partially linear controllable system. Then the LS-SVM technique is employed to perform approximating unknown nonlinear functions. The updating rule of LS-SVM parameters is derived from Lyapunov stability theory. The proposed control law guarantees that the output tracking error and the states of the obtained closed-loop systems are uniformly ultimately bounded. The effectiveness of the proposed scheme is demonstrated by simulation.