Multiple Models Adaptive Control Based on Hierarchical Structure

Multiple models adaptive control (MMAC) based on hierarchical structure is presented, which aims at the problem of many sub-models in conventional MMAC. The whole controlled system is divided into basic operating-condition level and control model level. Multiple models and corresponding controllers are automatically established on-line by a traditional adaptive model and a reinitialized one. The proposed method can reduce the number of sub-models and computation times. The closed-loop system´s stability and asymptotical convergence of tracking error can be guaranteed. Simulation results show the efficacy of the proposed method.