Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 42, Issue 6, Pages 1599-1607Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2012.2196039
Keywords
Adaptive fuzzy control; fuzzy compensator; MEMS gyroscope; nonlinear function
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Funding
- National Natural Science Foundation of China [61074056]
- Natural Science Foundation of Jiangsu Province [BK2010201]
- Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry
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In this paper, a robust adaptive control strategy using a fuzzy compensator for MEMS triaxial gyroscope, which has system nonlinearities, including model uncertainties and external disturbances, is proposed. A fuzzy logic controller that could compensate for the model uncertainties and external disturbances is incorporated into the adaptive control scheme in the Lyapunov framework. The proposed adaptive fuzzy controller can guarantee the convergence and asymptotical stability of the closed-loop system. The proposed adaptive fuzzy control strategy does not depend on accurate mathematical models, which simplifies the design procedure. The innovative development of intelligent control methods incorporated with conventional control for the MEMS gyroscope is derived with the strict theoretical proof of the Lyapunov stability. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control scheme and demonstrate the satisfactory tracking performance and robustness against model uncertainties and external disturbances compared with conventional adaptive control method.
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