Journal
ROBOTICA
Volume 37, Issue 3, Pages 481-501Publisher
CAMBRIDGE UNIV PRESS
DOI: 10.1017/S0263574718001133
Keywords
Triaxial MEMS gyroscope; Dynamics surface control; Extended state observer; Linear matrix inequality
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This paper reports an extended state observer (ESO)-based robust dynamic surface control (DSC) method for triaxial MEMS gyroscope applications. An ESO with non-linear gain function is designed to estimate both velocity and disturbance vectors of the gyroscope dynamics via measured position signals. Using the sector-bounded property of the non-linear gain function, the design of an L-2-robust ESO is phrased as a convex optimization problem in terms of linear matrix inequalities (LMIs). Next, by using the estimated velocity and disturbance, a certainty equivalence tracking controller is designed based on DSC. To achieve an improved robustness and to remove static steady-state tracking errors, new non-linear integral error surfaces are incorporated into the DSC. Based on the energy-to-peak (L-2 - L-infinity) performance criterion, a finite number of LMIs are derived to obtain the DSC gains. In order to prevent amplification of the measurement noise in the DSC error dynamics, a multi-objective convex optimization problem, which guarantees a prescribed L-2 - L-infinity performance bound, is considered. Finally, the efficacy of the proposed control method is illustrated by detailed software simulations.
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