A new adaptive fractional sliding mode control of a MEMS gyroscope

Abstract

The Micro-Electro-Mechanical System (MEMS) gyroscope is a well-known device, which has been widely used in medicine due to its small size. In this study, a new adaptive fractional integral sliding mode controller is proposed for control of a MEMS gyroscope. The goal is to achieve an appropriate control method that includes high tracking performance and robustness against external disturbances. The fractional order integral sliding mode controller gains will be updated by a new adaptive law. The effectiveness of the proposed controller is validated by simulation results. Results show that the adaptive fractional integral sliding mode control controller successfully tracked the desired trajectory in comparison with the fractional integral sliding mode control method. The Lyapunov theory is used in order to show that the adaptive fractional integral sliding mode control is stable.