Trajectory Tracking Control of Nonlinear Affine in Control System with Unknown Internal Dynamics

Abstract

This paper presents a new adaptive optimal nonlinear control for state trajectory tracking of nonlinear affine-in control systems with unknown internal dynamics. The referred proposed controller which is based on a L2 norm prescribed to minimize a trajectory tracking error and a time-delay estimation technique used for nonlinear unknown internal dynamics is developed in four steps. It has adaptive and optimal characteristics. With the systems state feedback, the proposed controller which doesn’t require any knowledge of nonlinear internal dynamics ensures the trajectory tracking of desired state reference. Finally, to validate the proposed method, a satellite numerical example which is used to illustrate the controller performance and effectiveness is presented.