Adaptive backstepping sliding mode control for MEMS gyroscope

Abstract

In this paper, an adaptive backstepping sliding mode control approach is proposed to attenuate the tracking error and control the MEMS triaxial gyroscope. An adaptive backstepping controller that can compensate the system nonlinearities is incorporated into the sliding mode control scheme in the Lyapunov framework. First, a robust backstepping control system incorporated with sliding mode control technique is designed. Then, an adaptive law is derived to estimate the upper bound value of the lumped uncertainty in the backstepping sliding mode control. With the adaptive backstepping sliding mode controller, the chattering in control efforts can be obviously reduced. Numerical simulation is provided to verify the effectiveness of the proposed scheme.