Neural Network Direct Adaptive Robust Control for a Class of Nonlinear MIMO Systems

Based on neural network by applying "dominant input" concept for a class of unknown nonlinear MIMO systems(multi-input / multi-output systems),the direct adaptive robust decoupling control scheme is proposed.It is shown that the proposed scheme guarantees the stability of the closed-loop system and achieves tracking performance idex,meanwhile the influences of external disturbance,neural network approximation error and the cross-coupling of input to output on the tracking error are reduced to a prescribed level.