Adaptive control of MEMS gyroscope using backstepping approach

In this paper, a new adaptive control system for MEMS (Microelectromechanical systems) vibratory gyroscope sensor is presented based on the backstepping approach. First, the dynamic model of a two-axis MEMS vibratory gyroscope is established based on Lagrange-Maxwell electromechanical equations. Next, backstepping design approach is used to drive the trajectory tracking errors to converge to zero rapidly with global asymptotical stability. However, the gyroscope parameters are difficult to obtain in advance in practical applications. Therefore, adaptive laws are derived to adapt the value of the parameter estimates in real-time, and an adaptive backstepping control law is implemented. Moreover, the unknown parameters may be identified, including the ambient angular rate, if the PE (persistent excitation) condition is satisfied. Finally, simulation results demonstrate the effectiveness of the proposed control scheme in terms of guaranteed stability and excellent tracking performance in the presence of unknown parameters and disturbances.