A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope

Wei Wang, Qing Zhao, Yuxin Zhao and Dongzhen Du

Mathematical Problems in Engineering, 2015, vol. 2015, 1-8

Abstract:

This paper develops a nonsingular terminal sliding mode controller (NTSMC) with adaptive disturbance observer (ADOB) for finite-time trajectory tracking of a MEMS triaxial vibratory gyroscope, which has parameter variations and external high-amplitude disturbance. A novel sliding mode controller with adaptive disturbance observer is designed to reconfigure the parameter variations and external high-amplitude disturbance and reduce the chattering phenomenon on the sliding surface greatly through setting the switching gain in control signal as a smaller value. The disturbance adaptive law is derived to guarantee the stability of the closed-loop adaptive control system via the Lyapunov criterion. The simulation results are performed to verify the effectiveness of the presented schemes.

Date: 2015
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Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:205652

DOI: 10.1155/2015/205652

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