Abstract
This paper presents adaptive fuzzy finite time sliding mode control of microelectromechanical system gyroscope with uncertainty and external disturbance. Firstly, fuzzy system is employed to approximate the uncertainty nonlinear dynamics. Secondly, nonlinear sliding mode hypersurface and double exponential reaching law are selected to design the finite time convergent sliding mode controller. Thirdly, based on Lyapunov methods, adaptive laws are presented to adjust the fuzzy weights and the system can be guaranteed to be stable. Finally, the effectiveness of the proposed method is verified with simulation.
Highlights
MEMS gyroscopes have become the most growing microsensors in recent years due to the characteristics of compact size, low cost, and high sensitivity
Fallaha et al studied a novel approach, which allowed chattering reduction on control input while keeping tracking performance in steady-state regime [19]. This approach consisted of designing a nonlinear reaching law by using an exponential function that dynamically adapted to the variations of the controlled system
The basic principle of z-axis vibratory MEMS gyroscope is shown in Figure 2, which can be described as a qualitystiffness-damping system
Summary
MEMS gyroscopes have become the most growing microsensors in recent years due to the characteristics of compact size, low cost, and high sensitivity. Fallaha et al studied a novel approach, which allowed chattering reduction on control input while keeping tracking performance in steady-state regime [19] This approach consisted of designing a nonlinear reaching law by using an exponential function that dynamically adapted to the variations of the controlled system. An adaptive fuzzy sliding mode control strategy with nonlinear sliding mode hypersurface and double exponential reaching law is developed to track MEMS gyroscope. It converges faster compared with strategies using conventional sliding mode surface in [23] and terminal sliding mode surface in [12,13,14,15,16].
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