Multivariable binary adaptive control using higher-order sliding modes applied to inertially stabilized platforms

摘要

This paper presents an extension of the Binary Model Reference Adaptive Control (BMRAC) for uncertain multivariable (square) systems with non-uniform arbitrary relative degrees using only output feedback and its application to inertially stabilized platforms using a two degree of freedom gimbal as actuator. The BMRAC is a robust adaptive strategy with good transient performance, thus useful for uncertain systems, and the multivariable framework is suitable to deal with mechanical unbalances. Using a newly proposed differentiator with dynamic gains based on higher-order sliding mode, the proposed controller achieves global and exact tracking. To illustrate the effective of the proposed solution, simulations are presented using real-word data obtained from an instrumented vehicle in an irregular ground.(c) 2021 European Control Association. Published by Elsevier Ltd. All rights reserved.