Time-varying disturbance observer based on regulating boundary layer thickness sliding mode control for microelectromechanical systems gyroscope

Abstract

This paper presents a robust control methodology for a microelectromechanical systems gyroscope, which named time-varying disturbance observer based on regulating boundary layer thickness sliding mode control First, the micro electromechanical systems gyroscope mathematical model has been analyzed. Second, time-varying disturbance observer (T-V DOBs) was constructed for observing the unwanted signals from inside and outside of the system, which is well known as disturbance and uncertainty estimation. The time-varying disturbance observer has been constructed based on the basic nonlinear disturbance observer, the estimated disturbance has been used to compensate the outside disturbance and inside uncertainty. Third, the proportional integral derivative sliding mode surface was used to construct the equivalent control, afterward the switching control value of sliding mode control was selected following the regulating boundary layer thickness by using the fuzzy logic control to construct the switching boundary thickness. The simulation results has been archived by using MATLAB software. The chattering was significant goes to zero, and disturbance was mostly rejected. The convergence condition was proved based on the Lyapunov law.