Adaptive Control of MEMS Gyroscope Based on Global Terminal Sliding Mode Controller

Abstract

An adaptive global fast terminal sliding mode control (GFTSM) is proposed for tracking control of Micro-Electro-Mechanical Systems (MEMS) vibratory gyroscopes under unknown model uncertainties and external disturbances. To improve the convergence rate of reaching the sliding surface, a global fast terminal sliding surface is employed which can integrate the advantages of traditional sliding mode control and terminal sliding mode control. It can be guaranteed that sliding surface and equilibrium point can be reached in a shorter finite time from any initial state. In the presence of unknown upper bound of system nonlinearities, an adaptive global fast terminal sliding mode controller is derived to estimate this unknown upper bound. Simulation results demonstrate that the tracking error can be attenuated efficiently and robustness of the control system can be improved with the proposed adaptive global fast terminal sliding mode control.

Robust Adaptive Fractional Fast Terminal Sliding Mode Controller for Microgyroscope

“…e boundary layer δ is designed as 0.06 so as to alleviate the chattering phenomenon. When the fractional-order α is set as 0.9 and the lumped uncertainties are applied as random signal f � [randn(1, 1); randn(1, 1)], the corresponding simulation is conducted to demonstrate the performance of the proposed adaptive fractional fast TSMC and compare it with existing conventional fast TSMC and fractional SMC [52]. Simulation results are plotted as e plots of position tracking trajectory are shown in Figure 3.…”

A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope

“…Referring to (17), we define the nonsingular terminal sliding surface as (20) for the popurse of finite-time convergence and overcoming the singularity problem:…”

“…For overcoming this problem, several direct approaches were proposed by Feng et al [13][14][15], which could eliminate the singularity essentially. So far, there were very few TSMC applications to MEMS gyroscopes for finite-time trajectory tracking [16,17], and one adaptive global fast terminal sliding mode control scheme showed efficient improvement [17]. The intrinsic source of chattering is the discontinuity of control signals caused by switching terms.…”

“…(1) A nonsingular terminal sliding mode surface is selected to actualize exact finite-time convergence of tracking error, that is, exact finite-time trajectory tracking, as well as overcoming the singularity problem essentially occured in fast terminal sliding mode control strategy [17].…”

Sliding Mode Observer Design for decentralized multi-phase flow estimation

“…The global terminal sliding is one of the suitable methods for fast transfer of system states to its equilibrium point and to ensure that the control signal is non-singular [23] . In complex multi-phase flow systems, due to the changing operational conditions and the presence of diverse disturbance sources, i.e.…”