title: Tracking control of multi-input affine nonlinear dynamical systems with unknown nonlinearities using dynamical neural networks.
abstract: The purpose of this paper is to design and rigorously analyze a tracking controller, based on a dynamic neural network model for unknown but affine in the control, multi input nonlinear dynamical systems, Lyapunov stability theory is used to guarantee a uniform ultimate boundedness property for the tracking error, as well as of all other signals in the closed loop. The controller derived is smooth. No a priori knowledge of an upper bound on the "optimal" weights and modeling errors is required. Simulation studies are used, to illustrate and clarify the theoretical results.
authors.affiliation: Dept. of Electron. & Comput. Eng., Tech. Univ. of Crete, Chania.
authors.forename: G A
authors.initials: GA
authors.lastname: Rovithakis