A New Adaptive Fuzzy Sliding Mode Controller for Trajectory Tracking of MEMS Triaxial Gyroscope

In this paper, a fuzzy logic adaptive sliding mode control using feedback linearization approach is proposed for the MEMS triaxial gyroscope with unknown system nonlinearities. An input-output linearization technique is incorporated into the adaptive fuzzy tracking control to cancel the nonlinearities, fuzzy controller whose parameters are updated from the Lyapunov approach is used to perform the linearization control law and sliding mode control is utilized to compensate the fuzzy approximation errors. Since approximation error generally is larger than zero, sliding mode gain can be selected to be the absolute value of approximation error plus a small positive constant to guarantee the asymptotically stability of the system. This improved sliding gain calculation speeds up system response and reduces the sliding chattering. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy sliding mode control scheme.