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Compound Fractional Integral Terminal Sliding Mode Control and Fractional PD Control of a MEMS Gyroscope

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New Trends in Robot Control

Part of the book series: Studies in Systems, Decision and Control ((SSDC,volume 270))

Abstract

This paper proposes a compound fractional order integral terminal sliding mode control (FOITSMC) and fractional order proportional-derivative control (FOPD-FOITSMC) for the control of a MEMS gyroscope. In order to improve the robustness of the conventional integral terminal sliding mode control (ITSMC), a fractional integral terminal sliding mode surface is applied. The chattering problem in FOITSMC, which is usually generated by the excitation of fast un-modelled dynamic is the main drawback. A fractional order proportional-derivative controller (FOPD) is employed in order to eliminate chattering phenomenon. The stability of the FOPD-FOITSMC is proved by Lyapunov theory. The performance of the proposed control method is compared with FOITSMC. Numerical simulations clearly verified the effectiveness of the proposed control approach.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Wisconsin, Milwaukee, USA

    Mehran Rahmani & Mohammad Habibur Rahman

  2. Control and Management Lab, Sultan Qaboos University, Al Khoudh, Muscat, Oman

    Jawhar Ghommam

Authors
  1. Mehran Rahmani
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  2. Mohammad Habibur Rahman
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  3. Jawhar Ghommam
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Corresponding author

Correspondence to Mehran Rahmani .

Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, Sultan Qaboos University, Al Khoudh, Oman

    Jawhar Ghommam

  2. National School of Engineers of Sfax, University of Sfax, Sfax, Tunisia

    Nabil Derbel

  3. Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK

    Quanmin Zhu

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Rahmani, M., Rahman, M.H., Ghommam, J. (2020). Compound Fractional Integral Terminal Sliding Mode Control and Fractional PD Control of a MEMS Gyroscope. In: Ghommam, J., Derbel, N., Zhu, Q. (eds) New Trends in Robot Control. Studies in Systems, Decision and Control, vol 270. Springer, Singapore. https://doi.org/10.1007/978-981-15-1819-5_18

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