Adaptive Control for a Class of Non-affine Nonlinear Systems via Two-Layer Neural Networks

This paper presents a novel neural network (NN-based) adaptive control method for a general class of non-affine nonlinear systems, which are implicit function with respect to control input. The control algorithm is established based on implicit function theorem, inverse function theorem and the design idea of pseudo-control. Without the assumption of disturbance term being known bounded, it is estimated using adaptation law. The overall adaptive scheme is proven to guarantee uniform boundedness in the Lyapunov sense. The effectiveness of the proposed control scheme is illustrated through simulation.