Abstract
In this paper, a direct adaptive fuzzy control using a supervisory compensator is designed for the robust tracking of a MEMS gyroscope sensor. The parameters of the membership functions are adjusted according to the designed adaptive law for the purpose of tracking a reference trajectory. A fuzzy controller that can approximate the unknown nonlinear function and compensate the system's nonlinearities is incorporated into the adaptive control scheme in the Lyapunov framework. A supervisory compensator is adopted to guarantee the stability of the closed loop system. Numerical simulations for a MEMS angular velocity sensor are investigated in order to verify the effectiveness of the proposed adaptive fuzzy control scheme and show that the system using the designed fuzzy controller with a supervisory compensator has better tracking performance and robustness than that using only a fuzzy control without a supervisory compensator in the presence of external disturbances.
Highlights
Gyroscopes are commonly used sensors for measuring angular velocity in many areas of application, such as navigation, homing and control stabilisation
This paper focuses on the design of a direct adaptive fuzzy control for a MEMS gyroscope using a supervisory compensator
A typical MEMS gyroscope configuration includes a proof mass suspended by spring beams, electrostatic actuations and sensing mechanisms for forcing an oscillatory motion and sensing the position and velocity of the proof mass, as well as a rigid frame which is rotated along the rotation axis
Summary
Gyroscopes are commonly used sensors for measuring angular velocity in many areas of application, such as navigation, homing and control stabilisation. Some adaptive sliding mode controllers have been developed to control MEMS gyroscopes [6,7]. System nonlinearities are inevitable in actual engineering and they require the controller to be either adaptive or robust Intelligent control approaches such as neural networks and fuzzy control do not require mathematical models and have the ability to approximate nonlinear systems. This paper focuses on the design of a direct adaptive fuzzy control for a MEMS gyroscope using a supervisory compensator. The contribution of this paper lies is the integration of an adaptive control, a nonlinear approximation of a fuzzy control and a supervisory compensator. The study of the adaptive fuzzy controller is conducted on a MEMS gyroscope and it is applied to control the gyroscope and guarantee that the closed loop system is globally stable and tracking errors are as small as possible.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
