Adaptive Neural Control of Uncertain Nonlinear Systems Using Disturbance Observer

This paper studies the problem of prescribed performance adaptive neural control for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems in the presence of external disturbances and input saturation based on a disturbance observer. The system uncertainties are tackled by neural network (NN) approximation. To handle unknown disturbances, a Nussbaum disturbance observer is presented. By incorporating the disturbance observer and NNs, an adaptive prescribed performance neural control scheme is further developed. Then, the expected asymptotically convergent tracking errors between system output signals and desired signals are achieved. Numerical simulation results demonstrate the effectiveness of the proposed control scheme.