Robust output regulation of a triaxial MEMS gyroscope via nonlinear active disturbance rejection

Hosseini‐Pishrobat Mehran; Keighobadi Jafar

摘要

Summary >This paper presents a nonlinear disturbance rejection–based controller for the robust output regulation of a triaxial microelectromechanical system (MEMS) vibratory gyroscope. In a MEMS gyroscope, parameter variations, mechanical couplings, suspension system nonlinearities, thermal noise, and centripetal/Coriolis forces are the main uncertainty sources. In the dynamical equations of the gyroscope, these uncertainties appear as a matched total disturbance, which does not coincide with the required structure of a standard output regulation problem. More specifically, the total disturbance is not guaranteed to belong to the solution space of a fixed dynamical system. Therefore, we propose a control system that comprises a nominal output regulator equipped with a disturbance rejection loop. On the basis of a suitable reference dynamics of the gyroscope, the control system is developed as the stabilization of a zero‐error invariant manifold in the tracking error space. In the disturbance rejection loop, a nonlinear extended state observer (ESO) is designed to estimate the total disturbance. The convergence of the ESO is analyzed in a Lyapunov‐Lurie framework by linear matrix inequalities (LMIs). In the nominal output regulation loop, the stabilization problem of the desired manifold is tackled by introducing a suitable distance coordinate. Next, to achieve guaranteed attenuation of the ESO estimation errors, an energy‐to‐peak design is pursued. On the basis of the center manifold theory, the stability of the overall closed‐loop system is guaranteed. The efficacy of the proposed control method is assessed through software simulations. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：id =“rnc3983-abs-0001”xml：lang =“en”> <title type =“main” >概述</标题> >本文提出了一种基于非线性干扰抑制的控制器，用于三轴微机电系统（MEMS）振动陀螺的鲁棒输出调节。在MEMS陀螺仪中，参数变化，机械耦合，悬架系统非线性，热噪声和离心术/科里奥利力是主要的不确定性来源。在陀螺仪的动态方程中，这些不确定性显示为匹配的总干扰，这与标准输出调节问题的所需结构不一致。更具体地，不保证总干扰属于固定动态系统的解决方案空间。因此，我们提出了一种控制系统，该控制系统包括配备有扰动抑制回路的标称输出调节器。在陀螺仪的合适参考动态的基础上，控制系统被开发为跟踪误差空间中零误差不变歧管的稳定。在扰动抵抗回路中，设计非线性扩展状态观察器（ESO）以估计总干扰。通过线性矩阵不等式（LMI）在Lyapunov-Lurie框架中分析ESO的收敛。在标称输出调节回路中，通过引入合适的距离坐标来掩盖所需歧管的稳定问题。接下来，为了实现ESO估计误差的保证衰减，追求能量到峰值设计。在中心歧管理论的基础上，保证了总闭环系统的稳定性。通过软件仿真评估所提出的控制方法的功效。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2018年第5期</span><b style="margin: 0 2px;">|</b><span>共22页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Hosseini‐Pishrobat Mehran&option=202" target="_blank" rel="nofollow">Hosseini‐Pishrobat Mehran;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Keighobadi Jafar&option=202" target="_blank" rel="nofollow">Keighobadi Jafar;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>Faculty of Mechanical EngineeringUniversity of TabrizTabriz Iran;</p> <p>Faculty of Mechanical EngineeringUniversity of TabrizTabriz Iran;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=disturbance rejection&option=203" rel="nofollow">disturbance rejection;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=extended state observer&option=203" rel="nofollow">extended state observer;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=output regulation&option=203" rel="nofollow">output regulation;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=triaxial MEMS gyroscope&option=203" rel="nofollow">triaxial MEMS gyroscope;</a> </p> <div class="translation"> 机译：干扰拒绝;延长状态观察者;输出调节;三轴MEMS陀螺仪; </div> </li> </ul> </div> </div> <div class="literature cardcommon"> <div class="similarity "> <h3 class="all_title" id="enpatent66">相似文献</h3> <div class="similaritytab clearfix"> <ul> <li class="active" >外文文献</li> <li >中文文献</li> <li >专利</li> </ul> </div> <div class="similarity_details"> <ul > <li> <div> <b>1. </b><a class="enjiyixqcontent" 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