Abstract
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.
Highlights
Many critical dynamic systems, such as aircraft, are nonminimum phase, MIMO, and highly nonlinear, which undergo significant disturbances and parameter variation during operation
Many interests have been focused on applying these techniques to flight control systems, such as [7, 8]
Effectiveness of the adaptive control scheme is demonstrated by simulation results of the fight control of a complete 5-DOF aircraft model
Summary
Many critical dynamic systems, such as aircraft, are nonminimum phase, MIMO, and highly nonlinear, which undergo significant disturbances and parameter variation during operation To control these systems, robust control [1], optimal tuning of fuzzy controllers with output sensitivity function [2], adaptive control [3,4,5], and feedback linearization with discrete sliding-mode control [6] have attracted much attention from both academic and industrial communities due to their robustness to uncertainties. Inversion is used on the minimum phase part to obtain asymptotic tracking, while a robust linear control approach is used to stabilize the nonminimum phase part, which is linearized at equilibrium As this strategy is based on local linearization of the nonminimum phase part, the result can only apply to simplified models. Effectiveness of the adaptive control scheme is demonstrated by simulation results of the fight control of a complete 5-DOF aircraft model
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