Observer-based type-3 fuzzy control for gyroscopes: Experimental/theoretical study

Gyroscopes are widely used in navigation systems of ships and vehicles, stabilizing systems for devices such as cameras and drones, robotic control systems, and orientation systems of spacecraft and satellites. However, their control systems are challenging due to disturbances such as vibrations, temperature changes, electromagnetic interference, integration with other sensors and control systems, and complex dynamics. Maintaining precise control, especially in applications that require high levels of accuracy, is challenging and requires advanced systems. In this paper, a new applied hybrid fuzzy controller is introduced for gyroscopes. First a linear quadratic (LQG) controller is designed, and then the error dynamics are modeled using T3-FLSs, and a nonlinear supervisor controller is developed. The type-3 (T3) fuzzy logic systems (FLSs) are used to model the dynamics of the gyroscope, and they are online updated through the stability tuning rules. The effects of tuning errors are considered and analyzed in the suggested stability theorem. The upper bounds of tuning errors are approximated by online adaptation laws and their effects on stability and tracking efficiency are eliminated by suggested adaptive compensators. The efficiency of the designed applied controller is verified by experimental studies and several simulations. In various scenarios, the accuracy and stability of the control scheme are examined, and its feasibility is proved (see a video of the experimental study in https://youtu.be/d40-2tTPF2k?si=WVHxcHSUAYA064el).