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A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope

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  • Wei Wang
  • Qing Zhao
  • Yuxin Zhao
  • Dongzhen Du

Abstract

This paper develops a nonsingular terminal sliding mode controller (NTSMC) with adaptive disturbance observer (ADOB) for finite-time trajectory tracking of a MEMS triaxial vibratory gyroscope, which has parameter variations and external high-amplitude disturbance. A novel sliding mode controller with adaptive disturbance observer is designed to reconfigure the parameter variations and external high-amplitude disturbance and reduce the chattering phenomenon on the sliding surface greatly through setting the switching gain in control signal as a smaller value. The disturbance adaptive law is derived to guarantee the stability of the closed-loop adaptive control system via the Lyapunov criterion. The simulation results are performed to verify the effectiveness of the presented schemes.

Suggested Citation

  • Wei Wang & Qing Zhao & Yuxin Zhao & Dongzhen Du, 2015. "A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope," Mathematical Problems in Engineering, Hindawi, vol. 2015, pages 1-8, February.
    • Handle: RePEc:hin:jnlmpe:205652
    DOI: 10.1155/2015/205652
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