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Robust adaptive nonsingular terminal sliding mode control of MEMS gyroscope using fuzzy-neural-network compensator

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Abstract

To attenuate the effect of time-varying parameters, quadrature errors, and external disturbances and realize finite-time control, a robust adaptive nonsingular terminal sliding mode (NTSM) tracking control scheme using fuzzy-neural-network (FNN) compensator is presented for micro-electro-mechanical systems (MEMS) vibratory gyroscopes in this paper. By introducing a nonsingular terminal sliding mode manifold, a novel terminal sliding mode controller is designed for MEMS gyroscopes, while ensuring the control system could reach the sliding surface and converge to equilibrium point in a finite period of time from any initial state. In the presence of unknown model uncertainties and external disturbances, an adaptive fuzzy-neural-network controller is employed to compensate such system nonlinearities and improve the tracking performance. Online fuzzy-neural-network weight tuning algorithms are derived in the sense of Lyapunov stability theorem to guarantee the network convergence as well as stable control performance. Numerical simulations for a MEMS gyroscope are provided to justify the claims of the proposed adaptive fuzzy-neural-network control scheme and demonstrate the satisfactory tracking performance and robustness.

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Acknowledgments

The authors thank the anonymous reviewers for their useful comments that improved the quality of the paper. This work is partially supported by National Science Foundation of China under Grant No. 61374100; Natural Science Foundation of Jiangsu Province under Grant No. BK20131136. The Fundamental Research Funds for the Central Universities under Grant No. 2014B05014.

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Hohai University, Changzhou, 213022, China

    Weifeng Yan, Shixi Hou, Yunmei Fang & Juntao Fei

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  1. Weifeng Yan
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  2. Shixi Hou
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  3. Yunmei Fang
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  4. Juntao Fei
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Correspondence to Juntao Fei.

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Yan, W., Hou, S., Fang, Y. et al. Robust adaptive nonsingular terminal sliding mode control of MEMS gyroscope using fuzzy-neural-network compensator. Int. J. Mach. Learn. & Cyber. 8, 1287–1299 (2017). https://doi.org/10.1007/s13042-016-0501-7

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  • DOI: https://doi.org/10.1007/s13042-016-0501-7

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