Fei Juntao, Fang Yunmei, Yuan Zhuli
College of IoT Engineering, Hohai University, Changzhou 213022, China.
Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology, Changzhou 213022, China.
Micromachines (Basel). 2020 Oct 29;11(11):968. doi: 10.3390/mi11110968.
This paper developed an adaptive backstepping fuzzy sliding control (ABFSC) approach for a micro gyroscope. Based on backstepping design, an adaptive fuzzy sliding mode control was proposed to adjust the fuzzy parameters with self-learning ability and reject the system nonlinearities. With the Lyapunov function analysis of error function and sliding surface function, a comprehensive controller is derived to ensure the stability of the proposed control system. The proposed fuzzy control scheme does not need to know the system model in advance and could approximate the system nonlinearities well. The adaptive fuzzy control method has self-learning ability to adjust the fuzzy parameters. Simulation studies were implemented to prove the validity of the proposed ABFSMC strategy, showing that it can adapt to the changes of external disturbance and model parameters and has a satisfactory performance in tracking and approximation.
本文针对微陀螺仪开发了一种自适应反步模糊滑模控制（ABFSC）方法。基于反步设计，提出了一种自适应模糊滑模控制，以调整具有自学习能力的模糊参数并抑制系统非线性。通过对误差函数和滑模面函数进行李雅普诺夫函数分析，推导了一个综合控制器，以确保所提出控制系统的稳定性。所提出的模糊控制方案无需预先知道系统模型，并且能够很好地逼近系统非线性。自适应模糊控制方法具有自学习能力来调整模糊参数。进行了仿真研究以证明所提出的ABFSMC策略的有效性，结果表明它能够适应外部干扰和模型参数的变化，并且在跟踪和逼近方面具有令人满意的性能。
