An adaptive sliding mode controller for a class of MIMO Euler-Lagrange systems with variable parameters
An adaptive sliding mode controller for a class of MIMO Euler-Lagrange systems with variable parameters
This paper presents a method to synthesize the adaptive sliding mode controller for a class of MIMO Euler-Lagarance systems with variable parameters. We perform a Taylor series expansion of a class of MIMO Euler-Lagarance systems into nonlinear state-space equations, considering cases of varying parameters and unmeasured external disturbances.