Hierarchical model reference adaptive control systems

This paper presents a hierarchical model reference adaptive control algorithm for a class of complex nonlinear systems. The complex system concerned is represented by a family of local transfer function models, which are smoothly combined together by characteristic basis functions. The model reference adaptive control law is first designed in each local region and then constructed in the global domain. It is shown that the resulting hierarchical adaptive control system is globally stable. A simulation example is given for demonstration of the application of the method