Design of a Composite Adaptive Controller For the Single-axis 2-DOF MEMS Vibratory Gyroscope with the Competency Of Rotation Rate Measurement

The paper contributes a special design of a 2-DOF MEMS (Micro Electro Mechanical System) vibratory gyroscope in a mere schematic way which has benefit of being manipulated by balanced force actuation mechanism and a differential capacitive sensing one as well. These two embedded mechanisms function along drive and sense axes because the control tasked system requires observation of displacement and velocity states simultaneously. In other significant stand, a composite adaptive controller (CAC) is suggested to hold quadrature error compensation true compelling the sensory oscillation mechanism to get vibrated with distinct frequency and amplitude in a sinusoidal manner. Not only does the proposed composite scheme takes advantage of rotation rate estimation being subjected to persistent excitation, but also it gains the benefit of rapid tunable estimation, considerable identification sharpness and an intrinsic adjustable structural robustness in comparison to the adaptive sliding mode controller (ASMC). The simulation results emerge persuasive. It is worthwhile being mentioned that quadrature error and uncertainty get significant in fabrication procedures and ruin sense mode gyroscope response. They mainly originate from slight geometrical distortion which itself causes aniso-damping and aniso-elasticity. Furthermore, inaccuracy in modeling and fabrication process necessitates design of an effective controller. Tracking performance shortcomings in pole-placement state-feedback controller and integral rotation rate estimation requires considering other modern controllers such as adaptive ones.