Adaptive output feedback tracking control for nonaffine nonlinear systems

This paper focuses on adaptive output feedback tracking control of nonlinear systems, in which the functions of system are unknown. A two-layered feedforward Neural Network (NN) is employed to approximate the desired control signal. In order to estimate system states, an NN-based high gain observer is introduced, which does not suffer from peaking phenomenon. Also, the stability analysis of the overall system is provided based on the non-separation principle. As compared to most of the previous approaches which concentrate on affine systems, the presented method is applicable to nonaffine nonlinear systems. Furthermore, the presented method does not rely on having a lot of a priori knowledge about the system dynamics, the corresponding adaption laws are simple, easy to implement and reliable. Finally, simulation results are presented to verify the significant potential of the proposed controller.