Abstract

One of the inevitable problems with real-time control systems is the presence of the uncertainties and external disturbances. The existence of these uncertainties in the fabrication processes of the MEMS Gyroscope devices can deeply impact the performance of the devices. In this paper, five adaptive finite time robust control methods are employed based on SMC method for a Micro-Electro-Mechanical System (MEMS) Gyroscope with mismatched uncertainties and external disturbances to achieve trajectory tracking goal. A new Stepping SMC method is proposed in this study to improve some deficiencies of conventional and existing methods including Simple SMC, Classical SMC, Cubic SMC, and Hexagonal SMC. The upper bound of mismatched uncertainties is estimated in finite time and their estimation is utilized in the control inputs for all five control methods. The elimination of chattering phenomenon is considered in this paper. The system finite time stability proof is obtained using Lyapunov stability theory. The numerical simulation is performed in Simulink/MATLAB for the MEMS gyroscope system to demonstrate the effectiveness of our proposed control method, Stepping SMC, compared with four other methods. To make an extensive comparison among results, the performance criterion, Integral of the square value (ISV), is used.

中文翻译：

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MEMS陀螺仪轨迹跟踪的无抖动自适应有限时间滑模控制

摘要

实时控制系统不可避免的问题之一是存在不确定性和外部干扰。MEMS陀螺仪设备制造过程中这些不确定因素的存在会严重影响设备的性能。本文采用基于SMC方法的五种自适应有限时鲁棒控制方法，对不确定性和外部干扰不匹配的微机电陀螺仪进行了跟踪。本研究提出了一种新的步进SMC方法，以改善传统方法和现有方法的一些不足，包括简单SMC，经典SMC，立方SMC和六角SMC。不匹配的不确定性的上限是在有限的时间内估计的，并且它们的估计被用于所有五种控制方法的控制输入中。本文考虑消除颤振现象。利用李雅普诺夫稳定性理论获得了系统的有限时间稳定性证明。在Simulink / MATLAB中对MEMS陀螺仪系统进行了数值仿真，以证明与其他四种方法相比，我们提出的控制方法Stepping SMC的有效性。为了在结果之间进行广泛的比较，使用了性能标准平方值（ISV）的积分。