Adaptive neural network based backstepping control design for MIMO nonlinear systems with actuator nonlinearities

Abstract

Purpose – The purpose of the proposed research methodology is to control the trajectory tracking of EDRM and also to cancel out the effect of no-smooth nonlinearities, which affect the system performance badly. Design/methodology/approach – Robust adaptive neural network (RANN)-based backstepping control design methodology is presented in this paper. The proposed design methodology improves the trajectory tracking and running mean error. Findings – The running mean error results show that the convergence of the proposed RANN-based backstepping technique is very fast as compare to the conventional PD control and due to this proposed control technique, the EDRM follows its desired trajectory perfectly. Practical implications – The EDRM trajectory tracking performance increases which leads to a better working position of EDRM. Originality/value – The originality of this research article is 93 per cent.