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Regulated model-based and non-model-based sliding mode control of a MEMS vibratory gyroscope

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Abstract

Control of MEMS vibratory gyros and angular rate estimation form the challenging problem which is the focus of this paper. To this end, the model-based and non-model-based sliding model control (SMC) approaches are presented, and a chattering elimination method called regulated SMC (RSMC) is invoked to improve tracking control of the drive and sense modes of the uncertain vibratory gyroscope. The force-balancing method is employed to estimate the unknown rotation rate and quadrature error term using two desired trajectories for conventional mode with the same amplitude and different frequencies. Finally, effectiveness of the regulated model-based and non-model-based SMC scheme even in the presence of significant uncertainties is demonstrated through simulations.

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Authors and Affiliations

  1. Space Research Institute, Tehran, Iran

    Asghar Ebrahimi

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  1. Asghar Ebrahimi
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Correspondence to Asghar Ebrahimi.

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Recommended by Associate Editor Si-Hyung Lim

Asghar Ebrahimi is an assistant professor in Iran Space Research Institute. He received his B.S. and M.S. in Physics from Tehran University and Shahid Beheshti University and Ph.D. in Mechanical Engineering from K.N. Toosi University of Technology in 2009, respectively. His research interests include design and manufacturing of aerospace systems and dynamics and control of spacecraft.

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Ebrahimi, A. Regulated model-based and non-model-based sliding mode control of a MEMS vibratory gyroscope. J Mech Sci Technol 28, 2343–2349 (2014). https://doi.org/10.1007/s12206-014-0525-4

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  • DOI: https://doi.org/10.1007/s12206-014-0525-4

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