Velocity-Free Adaptation Compensation Control of MEMS with Prescribed Performance

Abstract

This study investigates the prescribed performance control problem for microelectro-mechanical system (MEMS) gyroscope subject to system parameters’ uncertainty. A finite-time observer is firstly designed to estimate the unmeasurable velocity state of MEMS gyroscope. Subsequently, a coordinate transformation with the performance function is introduced into an error system which will be kept bounded to ensure expected dynamic and steady-state responses. Based on the proposed finite time-velocity reconstruction system, the adaptive backstepping design procedure is further designed to deal with the lumped uncertainty term. Furthermore, when considering actuator saturation, an improved control strategy is developed with a nonlinear input updating law, and meanwhile, it is proved that the system error converges to a preset compact set around zero in a preassigned time. Simulation results show the effectiveness and reliability of the proposed methods.