Adaptive fuzzy sliding mode control using adaptive sliding gain for MEMS gyroscope

Abstract

In this paper, an adaptive fuzzy sliding mode control strategy with bound estimation is proposed to control the position of a micro-electro-mechanical systems gyroscope in the presence of model uncertainties and external disturbances. The proposed adaptive fuzzy sliding mode control system is composed of a fuzzy controller and a sliding mode controller. The sliding controller is designed to compensate for the approximation error between fuzzy controller and optimal fuzzy control law. The adaptation laws based on the Lyapunov analysis can adaptively adjust the fuzzy rules, thus guaranteeing the stability of the closed loop adaptive fuzzy control system. Moreover, an estimation mechanism is derived to identify the unknown upper bound of approximation error. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control scheme.