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.

本文介绍了二进制模型参考自适应控制（BMRAC）的扩展，用于仅使用输出反馈的具有非均匀任意相对度的不确定多变量（方形）系统，并将其应用于使用二自由度万向节作为执行器的惯性稳定平台。BMRAC是一种具有良好瞬态性能的鲁棒自适应策略，因此对不确定系统很有用，多变量框架适用于处理机械不平衡。使用新提出的具有基于高阶滑模的动态增益的微分器，所提出的控制器实现了全局和精确跟踪。为了说明所提出的解决方案的有效性，使用从不规则地面上的仪表车辆获得的真实数据进行了模拟。