Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope

Mahyar Fazlyab; Maysam Zamani Pedram; Hassan Salarieh; Aria Alasty

doi:10.1016/j.isatra.2013.05.004

Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope

ISA Trans. 2013 Nov;52(6):900-11. doi: 10.1016/j.isatra.2013.05.004. Epub 2013 Aug 22.

Authors

Mahyar Fazlyab¹, Maysam Zamani Pedram, Hassan Salarieh, Aria Alasty

Affiliation

¹ Center of Excellence in Design, Robotics and Automation, Department of Mechanical Engineering, Sharif University of Technology, PO Box 11155-9567, Tehran, Iran. Electronic address: fazlyab@mech.sharif.edu.

PMID: 23973172
DOI: 10.1016/j.isatra.2013.05.004

Abstract

This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.

Keywords: Interval type-2 fuzzy logic; Sliding mode control; The least mean squares algorithm; z-axis MEMS vibratory gyroscope.