A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory GyroscopeReport as inadecuate




A Nonsingular Terminal Sliding Mode Approach Using Adaptive Disturbance Observer for Finite-Time Trajectory Tracking of MEMS Triaxial Vibratory Gyroscope - Download this document for free, or read online. Document in PDF available to download.

Mathematical Problems in Engineering - Volume 2015 2015, Article ID 205652, 8 pages -

Research ArticleCollege of Automation, Harbin Engineering University, Harbin 150001, China

Received 11 May 2014; Revised 15 August 2014; Accepted 19 August 2014

Academic Editor: Xing-Gang Yan

Copyright © 2015 Wei Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

This paper develops a nonsingular terminal sliding mode controller NTSMC with adaptive disturbance observer ADOB for finite-time trajectory tracking of a MEMS triaxial vibratory gyroscope, which has parameter variations and external high-amplitude disturbance. A novel sliding mode controller with adaptive disturbance observer is designed to reconfigure the parameter variations and external high-amplitude disturbance and reduce the chattering phenomenon on the sliding surface greatly through setting the switching gain in control signal as a smaller value. The disturbance adaptive law is derived to guarantee the stability of the closed-loop adaptive control system via the Lyapunov criterion. The simulation results are performed to verify the effectiveness of the presented schemes.





Author: Wei Wang, Qing Zhao, Yuxin Zhao, and Dongzhen Du

Source: https://www.hindawi.com/



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