Fractional-Order Terminal Sliding-Mode Control Using Self-Evolving Recurrent Chebyshev Fuzzy Neural Network for MEMS Gyroscope

To maintain the vibrations of the gyroscope proof mass, a trajectory tracking control system using a neural network estimator is proposed. The proposed control system incorporates a fractional controller based on the terminal sliding-mode and a recurrent Chebyshev fuzzy neural network using a self-evolving mechanism. The fractional-order terminal sliding-mode control can guarantee the tracking error exponential stable, and a self-evolving recurrent Chebyshev fuzzy neural network (SERCFNN) is introduced to relax the requirement of nonlinear functional certainty. In addition, the SERCFNN develops the advantages of the self-evolving fuzzy neural network (SEFNN), recurrent fuzzy neural network (RFNN), and Chebyshev function network (CFN). The SEFNN can adaptively update the dynamic structure through generating and adjusting fuzzy logic rules. The RFNN improves the performance for coping with a temporal problem with the capability to store prior information. The CFN is capable to enlarge the dimensionality of the input variables. Moreover, the asymptotic stability of the proposed control system can be proved by the Lyapunov stability theory. The effectiveness and superiority of the performance are exhibited with simulation studies and comprehensive comparisons.