Adaptive optimal trajectory tracking control of non-affine nonlinear system

This paper presents a new adaptive nonlinear control for trajectory tracking of non-affine nonlinear systems. The referred proposed controller which is based on a L₂ norm prescribed to minimize a trajectory tracking error has adaptive and optimal characters. Moreover with the systems output feedback, the proposed controller which dose not require any knowledge of nonlinear internal dynamics can be adopted to a recursive control structure and ensures the trajectory tracking of systems output. Finally, to validate the proposed method, an illustrative numerical example validates the controller performance and robustness.