Adaptive fractional fuzzy sliding mode control of microgyroscope based on backstepping design

PLoS One. 2019 Jun 24;14(6):e0218425. doi: 10.1371/journal.pone.0218425. eCollection 2019.

Abstract

In this paper, a robust sliding mode control (SMC) based on backstepping technique is studied for a microgyroscope in the presence of unknown model uncertainties and external disturbances using adaptive fuzzy compensator and fractional calculus. At first, the dynamic of microgyroscope is transformed into analogically cascade system to guarantee the application of backstepping design. Then a novel fractional differential sliding surface is proposed which integrates the capacities of the fractional calculus and SMC. In order to reduce the chattering in SMC, a fuzzy logical system is utilized to approximate the external disturbances. In addition, fractional order adaptive laws are derived to estimate the damping and stiffness coefficients and angular velocity online based on Lyapunov stability theory which also guarantees the stability of the closed loop system. Finally, simulation results signify the robustness and effectiveness of the proposed control schemes and the comparison of root mean square error under different fractional orders and integer order are given to demonstrate the better performance of proposed controller.

Publication types

  • Research Support, Non-U.S. Gov't

MeSH terms

  • Algorithms
  • Fuzzy Logic*
  • Models, Theoretical*

Grants and funding

This work is partially supported by National Science Foundation of China under Grant No. 61873085, Natural Science Foundation of Jiangsu Province under Grant No. BK20171198; The University Graduate Research and Innovation Projects of Jiangsu Province under Grant No. KYCX17_0540; The Fundamental Research Funds for the Central Universities under Grant No. 2017B679X14, 2017B20014.