Adaptive Sliding Mode Control Using Robust Feedback Compensator for MEMS Gyroscope

摘要

An adaptive sliding mode control using robust feedback compensator is presented for a MEMS gyroscope in the presence of external disturbances and parameter uncertainties. An adaptive controller with a robust term is used to improve the robustness of the control system and compensate the system nonlinearities. The proposed robust adaptive control can estimate the angular velocity and all the system parameters including damping and stiffness coefficients in the Lyapunov framework. In addition, standard adaptive control scheme without robust algorithm is compared with the proposed robust adaptive scheme in the aspect of numerical simulation and algorithm derivation. Numerical simulations show that the robust adaptive control has better robustness in the presence of external disturbances than the standard adaptive control.