Finite-time prescribed performance control of MEMS gyroscopes
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REVIEW
Finite-time prescribed performance control of MEMS gyroscopes Rui Zhang · Bin Xu · Wanliang Zhao
Received: 12 June 2020 / Accepted: 14 September 2020 © Springer Nature B.V. 2020
Abstract This paper addresses the finite-time prescribed performance control of MEMS gyroscopes. From the perspective of practical engineering, this paper arranges the desirable transient and steady-state performances according to the engineering requirements in the controller design procedure. For the tracking performance, prescribed performance control is studied to limited the steady-state error and the maximum overshoot. For the prescribed settling time, supertwisting sliding mode control and nonsingular terminal sliding mode control are employed to achieve finitetime convergence, respectively. The system stability is verified via Lyapunov approach. Through simulation tests, it is demonstrated that prescribed performance and finite-time convergence can be obtained under the proposed control scheme. Keywords MEMS gyroscopes · Finite-time convergence · Super-twisting sliding mode control ·
B. Xu (B) · R. Zhang Research and Development Institute of Northwestern Polytechnical University in Shenzhen, Shenzhen 518057, China e-mail: [email protected] R. Zhang · B. Xu School of Automation, Northwestern Polytechnical University, Xi’an 710072, China W. Zhao Shanghai Aerospace Control Technology Institute, Shanghai 201109, China
Nonsingular terminal sliding mode control · Prescribed performance control
1 Introduction MEMS gyroscopes are widely applied in consumer electronics, automatic drive and industrial equipments to measure angular rate due to its small size, low cost and low power consumption. Since the angular rate is measured based on Coriolis effect, the drive control performance of MEMS gyroscopes directly effects the measuring precision of angular rate. The proportional integral (PI) control implemented on the drive shaft is the most commonly used method in current engineering applications. However, the above approach has two drawbacks. On the one hand, PI control performance becomes poor under the changing environment and the external disturbance owing to the lack of adaptive capability. On the other hand, limited by the weak signal detection technology, the angular rate detection accuracy is difficult to be further improved. In response to these problems, the two-axis drive control framework is proposed, where both the drive and sensitive shafts are driven by electrostatic forces. The angular rate is estimated by the adaptive law in [1], which is closely related to the tracking performance of modal motion. Thus, improving the tracking performance becomes the main research problem, and multifarious control methods under the two-axis drive control framework are studied.
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R. Zhang et al.
Since the dynamic parameters of MEMS gyroscopes are changing with the working environment, the unknown nonlinear dynamics is generated. The adaptive control scheme is applied in [2,3] to estimate the unknown dynamic parameters.
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