Adaptive Fuzzy Sliding Mode Control for a Micro Gyroscope with Backstepping Controller.

Juntao Fei,Yunmei Fang,Zhuli Yuan

doi:10.3390/mi11110968

Abstract

This paper developed an adaptive backstepping fuzzy sliding control (ABFSC) approach for a micro gyroscope. Based on backstepping design, an adaptive fuzzy sliding mode control was proposed to adjust the fuzzy parameters with self-learning ability and reject the system nonlinearities. With the Lyapunov function analysis of error function and sliding surface function, a comprehensive controller is derived to ensure the stability of the proposed control system. The proposed fuzzy control scheme does not need to know the system model in advance and could approximate the system nonlinearities well. The adaptive fuzzy control method has self-learning ability to adjust the fuzzy parameters. Simulation studies were implemented to prove the validity of the proposed ABFSMC strategy, showing that it can adapt to the changes of external disturbance and model parameters and has a satisfactory performance in tracking and approximation.

Highlights

Micro gyroscopes are widely used in inertial navigation and guidance systems
The error and disturbances existing in micro gyroscopes may decrease the accuracy and sensitivity of the system
Some intelligent controllers are widely used in dynamic systems because of their good capacity to approximate any unknown smooth functions [8,9,10,11,12]

Summary

Introduction

Micro gyroscopes are widely used in inertial navigation and guidance systems. the error and disturbances existing in micro gyroscopes may decrease the accuracy and sensitivity of the system. Some intelligent controllers are widely used in dynamic systems because of their good capacity to approximate any unknown smooth functions [8,9,10,11,12]. Adaptive sliding mode controllers are combined with intelligent controllers for dynamic systems [13,14,15,16,17]. Adaptive sliding mode control with a neural estimator and adaptive control with fuzzy compensator for a micro gyroscope was investigated in [31,32]. E fuzzy sliding-mode contrHolofworevlienre,atrhuelfturazszoynciconsetrrovlosmtroattoergsyyisstenmots.combined with an adaptive backstepping controller in theHaopwpelivceart,iothneoffumzziycrcoognytrroolssctorpateeganydisanboatcckosmtebpipniendgwcoitnhtraonllaedrahpatsivneobt abcekesnteipnpcoinrpgocroantetrdolilnetroina tfhuezzaypsplliidciantgiomn oodf emciocrnotrgoyl rsoysscteompefaonr da ma bicarcokgstyerpopscinogpec.oAnstrsoullcehr,hthaes nadoat pbteievne binaccokrspteopraptiendg ifnutzozya fsulizdzinygslmidoindge cmoondtreocl oanptprroolascyhstheams nfoort abemenicrporogpyorosesdcoipnet.hAe scosnutcrho,ltohfeaamdaicprtoivgeybroacskcostpeep.pMinogtivfuaztezdy sblyidtinhge maboodveecornetsreoalracphp, rtohaischphaapsenropt rbeeseennptsroapnosaeddaipnttivhee cboanctkrostleopfpainmgicfruozgzyyrosslcidoipneg. ((33)) TThhee pprrooppoosseedd sslliiddiinngg mmooddee ccoonnttrrooll aaddddss aaddddiittiioonnaall ccoommppeennssaattoorrss ttoo iimmpprroovvee tthhee ssttaabbiilliittyy,, hheennccee oobbtataininininggdedseirseirdedsysstyesmtecmharcahcatrearcistteirciss.tiTchs.usT,hthues,enthtiereecnlotisreed-cllooospedsy-lsotoepm msyesetetsmthme deyetnsamthiec adnydnasmtaitcicapnedrfsotarmticanpceerfionrdmicaantcoersinadnidcaatcohriseavnesdaaccchuireavteestaraccckuirnagtepterarfcokrimnganpceer.formance

Dynamics of Micro Gyroscope

Adaptive Backstepping Control Design

Adaptive Estimator

Simulation Study