Adaptive sliding mode controller for bell-shaped vibratory angular rate gyro

For bell-shaped vibratory angular rate gyro has manufacturing errors and the model parameters is easily affected by environment, the existing controller loop can´t remove the influence, so the angular rate can´t be exactly estimated. This paper proposes a method of the adaptive sliding mode controller to calculate angular rate. By analyzing the bell-shaped vibratory angular rate gyro´s dynamics equations, we get the equation of state including disturbance and parameter perturbation, get proportion integral sliding mode surface with exponential approach law, design a kind of sliding mode controller for bell-shaped vibratory angular rate gyro to effectively estimate the input angular rate. The simulation results prove that the controller can steadily control the bell-shaped vibratory angular rate gyro´s mode shape and effectively measure the input angular rate.