ADAPTIVE TRACKING CONTROL OF MEMS GYROSCOPE USING DYNAMIC SLIDING MODE CONTROLLER

作者：Fei Juntao^*; Yuan Zhuli

来源：International Journal of Robotics and Automation, 2014, 29(3): 296-304.

DOI：10.2316/Journal.206.2014.3.206-4023

• Adaptive control
• dynamic sliding mode control
• switching function

In this paper, dynamic sliding mode control (DSMC) method with a new switching function is proposed for the state tracking of MEMS gyroscope. The time derivative of the control input is treated as the new control variable for the augmented system composed of the original system and the integrator. The new switching function is designed by differentiating classical sliding surface. Thus it can transfer discontinuous terms to the first-order derivative of the control input and effectively reduce the chattering. DSMC and adaptive DSMC are derived, and asymptotical stability of the designed systems can be guaranteed. The augmented dynamic sliding mode system is designed for achieving and improving the system stability, hence obtaining desired system behaviour and performance. Simulation results verify the feasibility of the proposed DSMC method and show that the proposed controller can improve the dynamic performance of the MEMS gyroscope.

• 出版日期2014
• 单位河海大学