Adaptive Sliding Mode Control Method for Z-Axis Vibrating Gyroscope Using Prescribed Performance Approach

Featured Application The adaptive sliding mode control method using the prescribed performance approach was proposed for Z-axis vibrating gyroscopes, which plays a crucial role in detecting angular velocities. Compared with traditional angular velocity meters, Micro-Electro-Mechanical-System (MEMS) gyroscope has outstanding features such as low cost, easy installation and others. As a result, MEMS gyroscopes have good application prospects in navigation, customer digital devices, and other areas. This paper investigates one kind of high performance control methods for Micro-Electro-Mechanical-System (MEMS) gyroscopes using adaptive sliding mode control (ASMC) scheme with prescribed performance. Prescribed performance control (PPC) method is combined with conventional ASMC method to provide quantitative analysis of gyroscope tracking error performances in terms of specified tracking error bound and specified error convergence rate. The new derived adaptive prescribed performance sliding mode control (APPSMC) can maintain a satisfactory control performance which guarantees system tracking error, at any time, to be within a predefined error bound and the error convergences faster than the error bound. Besides, adaptive control (AC) technique is integrated with PPC to online tune controller parameters, which will converge to their true values at last. The stability of the control system is proved in the Lyapunov stability framework and simulation results on a Z-axis MEMS gyroscope is conducted to validate the effectiveness of the proposed control approach.