Modelling, Simulation and Dynamic Sliding Mode Control of a MEMS Gyroscope

Area of Science:

• Control Systems Engineering
• Micro-Electro-Mechanical Systems (MEMS)
• Robotics and Navigation

Background:

• Micro-Electro-Mechanical Systems (MEMS) vibratory z-axis gyroscopes are crucial for inertial navigation.
• Traditional controllers often suffer from chattering and parameter estimation challenges.
• Accurate control is vital for MEMS gyroscope performance and reliability.

Purpose of the Study:

• To develop an adaptive dynamic sliding mode control (DSMC) strategy for MEMS vibratory z-axis gyroscopes.
• To address chattering issues inherent in conventional sliding mode controllers.
• To enable real-time estimation of angular velocity and system parameters.

Main Methods:

• A backstepping approach is employed to design the adaptive controller.
• The control input's time derivative is utilized as a new control variable for an augmented system.
• The controller real-time estimates angular velocity, damping, and stiffness coefficients.

Main Results:

• The proposed DSMC effectively reduces chattering by transferring discontinuous terms to the control input's derivative.
• Asymptotic stability of the closed-loop system is guaranteed.
• Simulation results demonstrate the satisfactory performance of the adaptive backstepping sliding mode control.

Conclusions:

• The adaptive backstepping sliding mode control offers a robust solution for MEMS vibratory z-axis gyroscopes.
• The method successfully estimates critical parameters and ensures system stability.
• This approach enhances the precision and reliability of MEMS gyroscope applications.