An Adaptive Fuzzy Control Approach for the Robust Tracking of a MEMS Gyroscope Sensor | Zendy

Juntao Fei | Zendy; Wanru Juan | Zendy; Tianhua Li | Zendy

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An Adaptive Fuzzy Control Approach for the Robust Tracking of a MEMS Gyroscope Sensor

Author(s) -

Juntao Fei,

Wanru Juan,

Tianhua Li

Publication year - 2011

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/50905

Subject(s) - control theory (sociology) , robustness (evolution) , fuzzy logic , computer science , fuzzy control system , vibrating structure gyroscope , lyapunov function , gyroscope , adaptive control , adaptive neuro fuzzy inference system , robust control , trajectory , nonlinear system , control engineering , control system , engineering , control (management) , artificial intelligence , physics , biochemistry , chemistry , electrical engineering , quantum mechanics , aerospace engineering , astronomy , gene

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

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