Adaptive super-twisting sliding mode control for micro gyroscope based on double loop fuzzy neural network structure
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ORIGINAL ARTICLE
Adaptive super‑twisting sliding mode control for micro gyroscope based on double loop fuzzy neural network structure Juntao Fei1 · Zhilin Feng2 Received: 24 December 2019 / Accepted: 28 August 2020 © Springer-Verlag GmbH Germany, part of Springer Nature 2020
Abstract In this paper, a new adaptive super-twisting sliding mode control (STSMC) scheme based on a double loop fuzzy neural network (DLFNN) is proposed to solve the problem of the external disturbances and approximate the unknown model for a micro gyroscopes. The STSMC algorithm can effectively suppress chattering since it can hide the high-frequency switching part in the high-order derivative of the sliding mode variable and transfer the discrete control law to the high-order sliding mode surface. Because it not only combines the advantages of fuzzy systems, but also incorporates the advantages of neural network control, the proposed double loop fuzzy neural network can better approximate the system model with excellent approximation. Moreover, it has the advantage of full adjustment, and the initial values of all parameters in the network can be arbitrarily set, then the parameters can be adjusted to the optimal stable value adaptively according to the adaptive algorithm. Finally, the superiority of the STSMC algorithm is also discussed. Simulation results verify the superiority of the STSMC algorithm, showing it can improve system performance and estimate unknown models more accurately compared with conventional neural network sliding mode control (CNNSMC). Keywords Micro gyroscope · Double loop fuzzy neural network control · Adaptive control · Super-twisting sliding mode control
1 Introduction As an important measuring element and inertial navigation instrument, micro gyroscopes have been widely used in modern aviation, navigation, aerospace and national defense industry. Its development is very important for the development of a country’s industry, national defense and other high-tech. At present, the research on micro gyroscopes in China is still at a low level, especially in the precision of micro gyroscopes. Because of the design and manufacture errors and the influence of temperature and operating environment, the resonant frequency of micro gyroscopes will change and the vibration amplitude of micro gyroscope will be unstable. The difference between the original characteristics and design will debase the quality of the gyroscope * Juntao Fei [email protected] 1
College of IoT Engineering, Hohai University, Changzhou 213022, China
Jiangsu Key Lab. of Power Transmission and Distribution Equipment Technology, Changzhou 213022, China
2
system. The measurement of angular speed and the compensation of manufacturing error have become the main control problems of micro gyroscope. However, the traditional control method mainly solves the stability control of oscillation amplitude and frequency of driving shaft and the matching problem of two-axis frequency. It cannot effectively solve the shortcomings and defects of micro gyrosc
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