Optimal novel super-twisting PID sliding mode control of a MEMS gyroscope based on multi-objective bat algorithm

Abstract

This paper proposes a novel super-twisting PID sliding mode controller (STPIDSMC) using a multi-objective optimization bat algorithm (MOBA-STPIDSMC) for the control of a MEMS gyroscope. In order to enhance the robustness of the control system, a sliding surface based on PID controller is designed. The chattering phenomenon in PID sliding mode control (PIDSMC) which is usually caused by the excitation of fast unmodelled dynamic is the main problem. The chattering phenomenon will be removed by using super-twisting control. A metaheuristic method, the multi-objective bat algorithm (MOBA) is applied for optimal design of the MEMS gyroscope in order to tune the parameter of the proposed controller. The performance of the MOBA-STPIDSMC is compared with four other controllers such as sliding mode control (SMC), PIDSMC, STPIDSMC and a single objective bat algorithm super-twisting PID sliding mode controller (BA-STPIDSMC). Numerical simulations clearly confirmed the effectiveness of the proposed controller.