Adaptive fuzzy sliding mode control of MEMS gyroscope sensor using fuzzy switching approach

In order to deal with the nonlinearity terms and parameter uncertainties and external disturbances of MEMS triaxial gyroscope, an adaptive fuzzy sliding mode control strategy, which combines the merits of sliding mode control and the indirect adaptive fuzzy control, is proposed to control the position of MEMS gyroscope in the presence of model uncertainties and external disturbances. The adaptive fuzzy systems are employed to approximate both the equivalent control term and the switching control term in the sliding mode controller. Then the switching control becomes continuous and the chattering phenomena can be attenuated. The adaptation laws based on the Lyapunov analysis can adaptively adjust the fuzzy rules to guarantee the asymptotical stability of the adaptive fuzzy closed loop control system. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control schemes.