Adaptive optimal trajectory tracking control of nonlinear affine in control system with unknown internal dynamics

This paper presents a new adaptive optimal nonlinear control for trajectory tracking of nonlinear affine-in control systems with unknown internal dynamics. The referred proposed controller which is based on a L₂ norm prescribed to minimized a trajectory tracking error and a time-delay estimation technique based nonlinear systems unknown dynamics estimations has adaptive and optimal characters. Moreover with the systems output feedback, the proposed controller dose not require any knowledge of nonlinear internal dynamics ensuring the trajectory tracking of systems multi-outputs. Finally, to validate the proposed method, a satellite numerical example illustrates the performance and robustness.