Maneuvering Control of Uncertain Nonlinear Systems: An Output Regulation Viewpoint

Maneuvering control aims to drive the controlled system to achieve a desired motion along a parameterized path, where the path variable, a scalar, tunes additional dynamic tasks. In this paper, we investigate the maneuvering control problem of uncertain nonlinear systems from the perspective of output regulation. Initially, we demonstrate that the maneuvering control problem can be transformed into an output regulation problem. Then, we design a controller for maneuvering control based on the internal model principle and a neural predictor-based dynamic surface control method. We prove that the resulting closed-loop system is input-tostate stable. The effectiveness of proposed theoretical results is verified via a simulation example.