Adaptive neural sliding mode control of MEMS triaxial gyroscope based on feedback linearization approach

摘要

In this paper, a neural network adaptive sliding mode control is proposed for the MEMS triaixal gyroscope with unknown system nonlinearities. An input-output linearization technique is incorporated into the neural adaptive tracking control to cancel the nonlinearities and the neural network whose parameters are updated from the Lyapunov approach is used to perform the linearization control law. Sliding mode control is utilized to compensate the neural network approximation errors. The stability of the closed-loop system can be guaranteed with the proposed adaptive neural sliding mode control. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive neural sliding mode control scheme.