Abstract
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.
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