Output Feedback Sliding Mode Control with Support Vector Machine Based Observer Gain Adaptation

Abstract

In this study, nonlinear second order systems with unmeasured system states and bounded external disturbances are considered. The observer gain of the sliding mode observer is adjusted by using a support vector machine based plant model. Computer simulations are presented to show the effect of the proposed adjustment mechanism on the performance of the output feedback sliding mode controller. It is shown that the trajectory tracking performance is improved with respect to a conventional output feedback sliding mode control scheme having constant sliding mode observer gains.