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Adaptive nonsingular terminal sliding mode control of MEMS gyroscope based on backstepping design
Author(s) -
Fei Juntao,
Yan Weifeng,
Yang Yuzheng
Publication year - 2015
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2523
Subject(s) - backstepping , control theory (sociology) , vibrating structure gyroscope , gyroscope , lyapunov function , sliding mode control , controller (irrigation) , singularity , terminal sliding mode , adaptive control , computer science , equilibrium point , control engineering , engineering , mathematics , control (management) , nonlinear system , physics , artificial intelligence , differential equation , mathematical analysis , agronomy , quantum mechanics , biology , aerospace engineering
Summary An adaptive nonsingular terminal sliding mode (NTSM) tracking control scheme based on backstepping design is presented for micro‐electro‐mechanical systems (MEMS) vibratory gyroscopes in this paper. The NTSM controller is designed based on backstepping strategy to eliminate the singularity, while ensuring the control system to reach the sliding surface and converge to equilibrium point in a finite period of time from any initial state. In addition, the proposed approach develops an online identifier scheme, which can real‐time estimate the angular velocity and the damping and stiffness coefficients. All adaptive laws in the control system are derived in the same Lyapunov framework, which can guarantee the globally asymptotical stability of the closed‐loop system. Numerical simulations for a MEMS gyroscope are investigated to demonstrate the validity of the proposed control approaches. Copyright © 2014 John Wiley & Sons, Ltd.