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Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope

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  • Zhilin Feng
  • Juntao Fei

Abstract

This paper proposes a novel adaptive Super-Twisting sliding mode control for a microgyroscope under unknown model uncertainties and external disturbances. In order to improve the convergence rate of reaching the sliding surface and the accuracy of regulating and trajectory tracking, a high order Super-Twisting sliding mode control strategy is employed, which not only can combine the advantages of the traditional sliding mode control with the Super-Twisting sliding mode control, but also guarantee that the designed control system can reach the sliding surface and equilibrium point in a shorter finite time from any initial state and avoid chattering problems. In consideration of unknown parameters of micro gyroscope system, an adaptive algorithm based on Lyapunov stability theory is designed to estimate the unknown parameters and angular velocity of microgyroscope. Finally, the effectiveness of the proposed scheme is demonstrated by simulation results. The comparative study between adaptive Super-Twisting sliding mode control and conventional sliding mode control demonstrate the superiority of the proposed method.

Suggested Citation

  • Zhilin Feng & Juntao Fei, 2018. "Design and analysis of adaptive Super-Twisting sliding mode control for a microgyroscope," PLOS ONE, Public Library of Science, vol. 13(1), pages 1-18, January.
    • Handle: RePEc:plo:pone00:0189457
    DOI: 10.1371/journal.pone.0189457
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    Cited by:

    1. Xiao Liang & Juntao Fei, 2019. "Adaptive fractional fuzzy sliding mode control of microgyroscope based on backstepping design," PLOS ONE, Public Library of Science, vol. 14(6), pages 1-21, June.
    2. Juntao Fei & Zhilin Feng, 2019. "Adaptive Fuzzy Super-Twisting Sliding Mode Control for Microgyroscope," Complexity, Hindawi, vol. 2019, pages 1-13, February.
    3. Hollweg, Guilherme Vieira & Evald, Paulo Jefferson Dias de Oliveira & Milbradt, Deise Maria Cirolini & Tambara, Rodrigo Varella & Gründling, Hilton Abílio, 2022. "Design of continuous-time model reference adaptive and super-twisting sliding mode controller," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 201(C), pages 215-238.

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