Adaptive hierarchical control for a class of MIMO uncertain underactuated systems

This paper presents an adaptive control strategy which combines the hierarchical control scheme with adaptive wavelet neural network for a class of multi-input multi-output (MIMO) underactuated systems with uncertain dynamics. Proposed scheme develops a systematic framework of the control components by applying hierarchical scheme to underactuated system. Wavelet neural networks are used to mimic the system uncertainties. Adaptive parameters of the wavelet network are tuned on line using gradient based approach. Uniformly ultimately bounded (UUB) stability of the closed loop system is analyzed in the sense of Lyapunov theory. Simulation results demonstrate the performance of proposed control scheme