A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope

作者：Wang, Wei^*; Zhao, Qing; Zhao, Yuxin; Du, Dongzhen

来源：Mathematical Problems in Engineering, 2015, 2015: 205652.

DOI：10.1155/2015/205652

• Chattering phenomenon
• Closed-loop adaptive controls
• Disturbance adaptive
• Disturbance observer
• Finite time trajectory
• Non-singular terminal sliding modes
• Sliding mode controller
• Vibratory gyroscope

This paper develops a nonsingular terminal sliding mode controller (NTSMC) with adaptive disturbance observer (ADOB) for finite-time trajectory tracking of a MEMS triaxial vibratory gyroscope, which has parameter variations and external high-amplitude disturbance. Anovel sliding mode controller with adaptive disturbance observer is designed to reconfigure the parameter variations and external high-amplitude disturbance and reduce the chattering phenomenon on the sliding surface greatly through setting the switching gain in control signal as a smaller value. The disturbance adaptive law is derived to guarantee the stability of the closed-loop adaptive control system via the Lyapunov criterion. The simulation results are performed to verify the effectiveness of the presented schemes.

• 出版日期2015
• 单位哈尔滨工程大学