Design and performance analysis of tracking controller for uncertain nonlinear composite system using neural networks

Based on high order dynamic neural network,this paper presents the tracking problem for uncertain nonlinear composite system,which contains external disturbance,whose nonlinearities are assumed to be unknown.A smooth controller is designed to guarantee a uniform ultimate boundedness property for the tracking error and all other signals in the closed loop.Certain measures are utilized to test its performance.No a priori knowledge of an upper bound on the 'optimal' weight and modeling error is required;the weights of neural networks are updated on-line.Numerical simulations performed on a simple example illustrate and clarify the approach.