Expert hierarchical adaptive controller for robotic systems

An expert hybrid control scheme which does not use explicit parameter estimation, is presented. It adjusts its structure in order to provide the `best´ control for a broad range of plant conditions. The coarsest control, provided by a multiple-model adaptive control procedure, provides the initial level of control by forcing the plant´s response to exist within a predetermined allowable range of specifications. This controller is also used to determine the adaptation coefficients and the initial values of the adaptation gains for the high-level controller. The finest control is determined by a model reference adaptive controller that causes the plant to follow a desired reference model. The heuristics used to determine switching between the two controllers is orchestrated by an expert system that bases its decisions on plant responses and controller parameter values