Center of Excellence in Design, Robotics and Automation, Department of Mechanical Engineering, Sharif University of Technology, PO Box 11155-9567, Tehran, Iran.
ISA Trans. 2013 Nov;52(6):900-11. doi: 10.1016/j.isatra.2013.05.004. Epub 2013 Aug 22.
This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.
本文提出了一种混合智能控制器，应用于单轴微机械振动陀螺仪。首先，通过归一化连续时间最小均方算法在线估计微陀螺仪的未知参数，包括未知时变角速度。然后，引入附加的区间型 2 模糊滑模控制，以匹配谐振频率并补偿不期望的机械耦合。这种控制策略的主要优点是对参数不确定性、外部干扰和测量噪声具有鲁棒性。通过李雅普诺夫稳定性定理证明了参数的一致估计和闭环系统的稳定性。最后，进行了数值模拟，以验证所提出方法在恒定和时变角速度下的有效性。
