Skip to main content
SpringerLink
Log in

A new adaptive fractional sliding mode control of a MEMS gyroscope

  • Technical Paper
  • Published:
Microsystem Technologies Aims and scope Submit manuscript

Abstract

The Micro-Electro-Mechanical System (MEMS) gyroscope is a well-known device, which has been widely used in medicine due to its small size. In this study, a new adaptive fractional integral sliding mode controller is proposed for control of a MEMS gyroscope. The goal is to achieve an appropriate control method that includes high tracking performance and robustness against external disturbances. The fractional order integral sliding mode controller gains will be updated by a new adaptive law. The effectiveness of the proposed controller is validated by simulation results. Results show that the adaptive fractional integral sliding mode control controller successfully tracked the desired trajectory in comparison with the fractional integral sliding mode control method. The Lyapunov theory is used in order to show that the adaptive fractional integral sliding mode control is stable.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  • Batur C, Sreeramreddy T, Khasawneh Q (2006) Sliding mode control of a simulated MEMS gyroscope. ISA Trans 45(1):99–108

    Article  Google Scholar 

  • Fang Y, Wang S, Fei J (2014) Adaptive TS fuzzy sliding mode control of MEMS gyroscope. In: Fuzzy systems (FUZZ-IEEE), 2014 IEEE international conference on. IEEE, pp 359–364

  • Fang Y, Fei J, Wang S (2015) H-infinity control of MEMS gyroscope using TS fuzzy model. IFAC PapersOnLine 48(14):241–246

    Article  Google Scholar 

  • Fang Y, Fei J, Yang Y (2018) Adaptive backstepping design of a microgyroscope. Micromachines 9(7):338

    Article  Google Scholar 

  • Fei J, Chu Y (2016) Dynamic global PID sliding mode control for MEMS gyroscope using adaptive neural controller. In: Soft computing and intelligent systems (SCIS) and 17th international symposium on advanced intelligent systems, 2016 joint 8th international conference on. IEEE, pp 16–21

  • Fei J, Xin M (2012) An adaptive fuzzy sliding mode controller for MEMS triaxial gyroscope with angular velocity estimation. Nonlinear Dyn 70(1):97–109

    Article  MathSciNet  Google Scholar 

  • Fei J, Xin M (2015) Adaptive fuzzy sliding mode control of MEMS gyroscope sensor using fuzzy switching approach. J Dyn Syst Meas Control 137(5):051002

    Article  Google Scholar 

  • Fei J, Yuan Z (2013) Dynamic sliding mode control of MEMS gyroscope. In: Control applications (CCA), 2013 IEEE international conference on. IEEE, pp 437–442

  • Fei J, Xin M, Juan W (2013) Adaptive fuzzy sliding mode control using adaptive sliding gain for MEMS gyroscope. Trans Inst Meas Control 35(4):551–558

    Article  Google Scholar 

  • Liao YW, Pan S, Borrelli F, Hedrick JK (2018) Adaptive sliding mode control without knowledge of uncertainty bounds. arXiv:1802.09689

  • Passaro V, Cuccovillo A, Vaiani L, De Carlo M, Campanella CE (2017) Gyroscope technology and applications: a review in the industrial perspective. Sensors 17(10):2284

    Article  Google Scholar 

  • Rahmani M (2018) MEMS gyroscope control using a novel compound robust control. ISA Trans 72:37–43

    Article  Google Scholar 

  • Rahmani M, Ghanbari A (2016) Computed torque control of a caterpillar robot manipulator using neural network. Adv Eng Forum 15:106–118

    Article  Google Scholar 

  • Rahmani M, Rahman MH (2018) Novel robust control of a 7-DOF exoskeleton robot. PLoS One 13(9):e0203440

    Article  Google Scholar 

  • Rahmani M, Ghanbari A, Ettefagh MM (2016a) Robust adaptive control of a bio-inspired robot manipulator using bat algorithm. Expert Syst Appl 56:164–176

    Article  Google Scholar 

  • Rahmani M, Ghanbari A, Ettefagh MM (2016b) Hybrid neural network fraction integral terminal sliding mode control of an Inchworm robot manipulator. Mech Syst Signal Process 80:117–136

    Article  Google Scholar 

  • Rahmani M, Komijani H, Ghanbari A, Ettefagh MM (2018a) Optimal novel super-twisting PID sliding mode control of a MEMS gyroscope based on multi-objective bat algorithm. Microsyst Technol 24(6):2835–2846

    Article  Google Scholar 

  • Rahmani M, Ghanbari A, Ettefagh MM (2018b) A novel adaptive neural network integral sliding-mode control of a biped robot using bat algorithm. J Vib Control 24(10):2045–2060

    Article  MathSciNet  Google Scholar 

  • Ren J, Zhang R, Xu B (2016) Adaptive fuzzy sliding mode control of MEMS gyroscope with finite time convergence. J Sens. https://doi.org/10.1155/2016/1572303

    Google Scholar 

  • Yang Y, Fei J (2013) Adaptive neural sliding mode compensator for MEMS gyroscope. In: Control and automation (ICCA), 2013 10th IEEE international conference on. IEEE, pp 441–446

  • Zhang R, Shao T, Zhao W, Li A, Xu B (2018) Sliding mode control of MEMS gyroscopes using composite learning. Neurocomputing 275:2555–2564

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Wisconsin-Milwaukee, 3200 N Cramer Street, Milwaukee, WI, 53211, USA

    Mehran Rahmani & Mohammad Habibur Rahman

Authors
  1. Mehran Rahmani
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mohammad Habibur Rahman
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Mehran Rahmani.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Rahmani, M., Rahman, M.H. A new adaptive fractional sliding mode control of a MEMS gyroscope. Microsyst Technol 25, 3409–3416 (2019). https://doi.org/10.1007/s00542-018-4212-8

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00542-018-4212-8

Search

Navigation