This paper proposes a compound fractional order integral terminal sliding mode control (FOITSMC) and fractional order proportional-derivative control (FOPD-FOITSMC) for the control of a MEMS gyroscope. In order to improve the robustness of the conventional integral terminal sliding mode control (ITSMC), a fractional integral terminal sliding mode surface is applied. The chattering problem in FOITSMC, which is usually generated by the excitation of fast un-modelled dynamic is the main drawback. A fractional order proportional-derivative controller (FOPD) is employed in order to eliminate chattering phenomenon. The stability of the FOPD-FOITSMC is proved by Lyapunov theory. The performance of the proposed control method is compared with FOITSMC. Numerical simulations clearly verified the effectiveness of the proposed control approach.
Compound Fractional Integral Terminal Sliding Mode Control and Fractional PD Control of a MEMS Gyroscope
Studies in Systems, Decision and Control
2020-02-12
12 pages
Article/Chapter (Book)
Electronic Resource
English
MEMS gyroscope , Fractional integral terminal sliding mode control , Fractional PD controller Engineering , Robotics and Automation , Control and Systems Theory , Vibration, Dynamical Systems, Control , Mathematical and Computational Engineering , Complex Systems , Mathematics of Algorithmic Complexity
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