Adaptive MIMO Supervisory Control Design Using Modeling Error

This paper proposes an adaptive control scheme for nonlinear systems with significant nonminimum phase dynamics. The scheme is composed of an inner-level adaptive fuzzy PD control law and an outer-level supervisory control law. Importantly, the inner-level controller of the two-level scheme is designed based on a fuzzy model, which takes nonminimum phase phenomenon and modeling error explicitly into account. The scheme is both much simpler in design and more applicable to general nonlinear systems when compared with most existing nonlinear controllers. Effectiveness of the proposed control strategy is demonstrated by numerical simulation of the control of a five-degree-of-freedom aircraft system in the face of bursting disturbances.