Design of Adaptive Output Feedback Variable Structure Tracking Controllers

Abstract

Based on the Lyapunov stability theorem, an adaptive output feedback variable structure tracking controller is proposed in this paper for a class of multi-input multi-output (MIMO) dynamic systems with mismatched uncertainties and disturbances. With an adaptive mechanism embedded in the proposed control scheme, the controller will automatically adapt the unknown upper bound of perturbations, so that the information of upper bound of perturbations is not required. Once the controlled system reaches the switching hyperplane, the state tracking errors can be driven into a small bounded region whose size can be adjusted through the design parameter. An application of flight control is given for demonstrating the feasibility of the proposed methodology.