A novel adaptive sliding control of MEMS gyroscope with robust feedback compensator

摘要

In the paper, a robust adaptive control using robust feedback compensator is presented for a MEMS gyroscope in the presence of external disturbances and parameter uncertainties. An adaptive controller with additional robust controller is used to improve the robustness of the control system and compensate the system nonlinearities. The proposed robust adaptive control can estimate the angular velocity and all the system parameter including damping and stiffness coefficients in the Lyapunov framework. In addition, standard adaptive control scheme without robust algorithm is compared with the proposed robust adaptive scheme in the aspect of numerical both simulation and algorithm derivation. Numerical simulations show that the robust adaptive control has better robustness in the presence of external disturbances compared with the standard adaptive control.