Adaptive fuzzy backstepping sliding mode control for MEMS gyroscope

Article type: Research Article

Authors: Fei, Juntao | Xin, Mingyuan

Affiliations: Jiangsu Key Labarotory of Power Transmission and Distribution Equipment Technology, College of Computer and Information, Hohai University, Changzhou, P.R. China

Note: [] Corresponding author. Juntao Fei, Hohai University, Changzhou 213022, P.R. China. Tel.: +86 51985192023; Fax: +86 51985191838; E-mail: jtfei@yahoo.com

Abstract: In this paper, a backstepping sliding mode control incorporating the adaptive fuzzy logic controller is proposed to achieve robust tracking performance for the Micro Electro Mechanical systems (MEMS) triaxial gyroscope. An adaptive fuzzy backstepping controller that can compensate the system nonlinearities is incorporated into the sliding mode control scheme in the Lyapunov framework. An adaptive fuzzy controller is used to learn the unknown upper bound of model uncertainties and external disturbances. First, a backstepping sliding mode controller is designed to compensate the model uncertainties and external disturbances. Then, an adaptive fuzzy control approach is developed to estimate the upper bound of the lumped uncertainty in the configuration of backstepping sliding mode control. Numerical simulation is provided to verify the effectiveness of the proposed scheme.

Keywords: MEMS triaxial gyroscope, backstepping sliding mode control, adaptive fuzzy control

DOI: 10.3233/IFS-131040

Journal: Journal of Intelligent & Fuzzy Systems, vol. 27, no. 2, pp. 817-826, 2014