Adaptive control for nonlinear systems with H∞ tracking performance via two-layers neural networks

In order to implement effective control for a class of non-affine nonlinear dynamic systems, which are implicit function with respect to control input, with strong nonlinearity and uncertainty, the algorithm is established based on some mathematics theories, and the H^infin optimal control techniques is also adopted. All of the approximation errors are weakened by a robustifying control term. Our result indicates that arbitrarily small attenuation level can be achieved via the proposed adaptive neural networks control algorithm if a weighting factor of control variable is adequately chosen. The effectiveness of the proposed control scheme is illustrated through simulation.