Terminal sliding mode control of Z-axis MEMS gyroscope with observer based rotation rate estimation

Document Type

Conference Proceeding

Publication Date

1-1-2011

Publication Title

Proceedings of the American Control Conference

First Page

3483

Keywords

MEMS Gyroscope, Robustness, Sliding Mode Observer, Terminal Sliding Mode Control

Last Page

3489

Abstract

This paper presents a novel methodology for approximation of the unknown time-varying rotation rate using sliding mode observer as well as a robust control scheme for improving the performance of the MEMS gyroscope despite the coupling between vibratory gyroscope modes and inherent model uncertainties. Terminal sliding mode control (TSMC) is invoked to develop tracking control of the drive and sense modes based on the uncertain model of vibratory gyroscope and subsequently the swiftness of TSMC scheme in comparison with conventional sliding mode control (SMC) is demonstrated. The robust terms of proposed sliding mode observer are designed such that the unknown functions including Coriolis acceleration and quadrature error terms are tracked and then the unknown rotation rate and stiffness coupling are constructed. The asymptotic stability and robustness of the proposed control and observer are proved using second method of Lyapunov. Finally, effectiveness of the proposed observer based control for approximation of the unknown time-varying rotation rate is demonstrated through simulations. © 2011 AACC American Automatic Control Council.

DOI

10.1109/acc.2011.5990616

ISSN

07431619

ISBN

9781457700804

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