Robust Adaptive Control Scheme Using Hopfield Dynamic Neural Network for Nonlinear Nonaffme Systems

In this paper, we propose a robust adaptive control scheme using Hopfield-based dynamic neural network for uncertain or ill-defined nonlinear nonaffine systems. A Hopfield-based dynamic neural network is used to approximate the unknown plant nonlinearity. The robust adaptive controller is designed to achieve a L-2 tracking performance to stabilize the closed-loop system. The weights of Hop field-based dynamic neural network are on-line tuned by the adaptive laws derived in the sense of Lyapunov, so that the stability of the closed-loop system can be guaranteed, and the tracking error is bounded. The proposed control scheme is applied to control an anti-lock braking system, and the simulation results illustrate the applicability of the proposed control scheme. The designed parsimonious structure of the Hopfield-based dynamic neural network makes the practical implementation of the work in this paper much easier.