Abstract: A new design scheme of direct adaptive neural network controller for a class of nonlinear systems with a triangular control structure is proposed. The design is based on the principle of sliding mode control and the approximation capability of multilayer neural networks(MNNs). By introducing integral-type Lyapunov function and adopting the adaptive compensation term of the upper bound function of the sum of residual as well as approximation error, the closed-loop control system is shown to be globally stable, with tracking error converging to zero.