Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope.

Zhilin Feng,Juntao Fei,Jun Ma

doi:10.1371/journal.pone.0189457

Zhilin Feng, Juntao Fei + Show 1 more

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https://doi.org/10.1371/journal.pone.0189457

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Journal: PloS one	Publication Date: Jan 3, 2018
Citations: 41	License type: CC BY 4.0

Affiliation: Hohai University

Abstract

This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages of the traditional sliding mode control with the Super-Twisting sliding mode control, but also guarantee that the designed control system can reach the sliding surface and equilibrium point in a shorter finite time from any initial state and avoid chattering problems. In consideration of unknown parameters of micro gyroscope system, an adaptive algorithm based on Lyapunov stability theory is designed to estimate the unknown parameters and angular velocity of microgyroscope. Finally, the effectiveness of the proposed scheme is demonstrated by simulation results. The comparative study between adaptive Super-Twisting sliding mode control and conventional sliding mode control demonstrate the superiority of the proposed method.

Highlights

Microgyroscope is a basic measurement element of inertial navigation and guidance system
This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances
Compensating the manufacturing errors and measuring angular velocity becomes the main tasks of microgyroscope control, an effective controller is essential for improving the performance of the microgyroscope by compensating for the mechanical imperfections and the disturbances effectively

Summary

Introduction

Microgyroscope is a basic measurement element of inertial navigation and guidance system. All SOSM controllers, except for the Super-Twisting algorithm (STA), require the knowledge of the values of the derivatives[27] It can solve the nonlinear robust stability of the system well, and converge to the reference in a finite time mentioned in [28], [29] and avoid chattering [30], [31], [32]. According to the aforementioned works, an adaptive Super-Twisting sliding mode control for microgyroscope with unknown parameters and external uncertainty and disturbance is constructed. The switching control is designed based on the Super-Twisting algorithm, which forces the system to slide along the sliding surface and achieve robustness to model uncertainties and external disturbances.

Materials and methods

Conclusion