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In this paper, we consider a feedforward neural network for the control of a class of multi-input, multi-output nonlinear systems. While feedforward neural networks offer a simple and appealing approach to enhance the trajectory tracking performance of the closed loop system, stability analysis is often more difficult than the conventional implementation of a neural network embedded within the feedback...
Energy-based control design methodology (the so-called IDA-PBC, interconnection and damping assignment passivity-based control) is a well established technique that has shown to be very powerful to design robust controllers for physical systems described by Euler-Lagrange equations of motion. Their application potential is particularly important for under-actuated systems. This paper presents the...
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