Anti-disturbance tracking control for MEMS gyroscopes with resilient guaranteed profiles: Theory and experiments

In this paper, an anti-disturbance tracking control scheme with resilient guaranteed profiles is proposed for microelectromechanical system (MEMS) gyroscopes. First, a state observer is constructed for cases in which the velocity measurement is unavailable or severely affected by measurement noise. Based on the recovered velocity information and the invariant manifold principle, a filter-based unknown system dynamics estimator (USDE) is then developed to estimate the system uncertainties. Second, to meet the stringent time and accuracy requirements of MEMS gyroscopes in practical measurement tasks, a resilient quantitative guaranteed performance control (RQGPC) strategy with a dynamically adjustable envelope is proposed. By introducing an auxiliary submodule to monitor input saturation, the proposed RQGPC can accommodate saturation effects while avoiding violations of the preset error constraints. The proposed scheme constrains the convergence process within a predesigned region. Consequently, the overshoot and settling time can be specified by the user, and effective tracking performance can be maintained under parameter uncertainties, external disturbances, and input saturation. Finally, the closed-loop stability is analyzed using Lyapunov theory, and the effectiveness of the proposed method is verified through simulation and experimental results.