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Adaptive dynamic surface control for MEMS triaxial gyroscope with nonlinear inputs

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Abstract

An adaptive dynamic surface control algorithm that incorporates adaptive control and fuzzy logic system into the implementation of dynamic surface control for regulating problem of MEMS triaxial gyroscope subject to external disturbance, uncertainty and input uncertainty is developed in this work. To relax the requirement of exact model and obtain fully adaptive property, a fuzzy logic system is introduced to approximate the uncertainty. With adaptive control structure, the proposed controller can obtain the properties of fast dynamic response and high tracking-accuracy, even the existence of disturbance, uncertainty and control input nonlinearity. All parameters adjustment rules for the proposed control scheme are derived from Lyapunov theory such that the trajectory of tracking-error converges to the small neighborhood of equilibrium point. Finally, the simulation results demonstrate the effectiveness of the proposed control scheme.

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Acknowledgments

This paper is supported in part by the National Natural Science Foundation of China (Nos. 11101066, 61074044, 61374118) and the Fundamental Research Funds for the Central Universities (No. DUT13LK32).

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Authors and Affiliations

  1. Dalian University of Technology, Dalian, China

    Zhankui Song, Hongxing Li & Kaibiao Sun

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  1. Zhankui Song
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  2. Hongxing Li
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  3. Kaibiao Sun
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Correspondence to Zhankui Song.

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Song, Z., Li, H. & Sun, K. Adaptive dynamic surface control for MEMS triaxial gyroscope with nonlinear inputs. Nonlinear Dyn 78, 173–182 (2014). https://doi.org/10.1007/s11071-014-1430-1

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  • DOI: https://doi.org/10.1007/s11071-014-1430-1

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