Adaptive NN Backstepping With Considering Integral of Tracking Error

In order to simplify the design procedure of traditional neural network backstepping and improve the robustness and precision of control, an improved scheme is studied for a class of nonlinear systems. To avoid reconstructing virtual control inputs in each recursive step, RBF neural networks are utilized as approximators to estimate the desired feedback control of the whole system only. Meanwhile, the integral action of tracking error is introduced into the backstepping design procedure, which not only participates in updating the neural network weight, but also serves as a component part of the control input. This design may benefit the parameter tuning and make controller perform better sometimes. Based on the Lyapunov synthesis approach, theoretical analysis and simulation results are provided to show the feasibility of the improved scheme.