Observer-based prescribed performance tracking control for MEMS Gyroscope subject to input saturation

In this work, a fixed-time prescribed performance output feedback tracking control scheme is presented for Micro-Electro-Mechanical Systems (MEMS) gyroscope subjected to uncertain system parameters. To obtain the state information of MEMS gyroscope, a state observation system with neural network app...

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Bibliographic Details
Published inNonlinear dynamics Vol. 110; no. 4; pp. 3395 - 3410
Main Authors Zhang, Haichuan, Chen, Fei
Format Journal Article
LanguageEnglish
Published Dordrecht Springer Netherlands 01.12.2022
Springer Nature B.V
Subjects
Automotive Engineering
Classical Mechanics
Closed loop systems
Control
Control theory
Coordinate transformations
Dynamical Systems
Engineering
Feedback control
Gyroscopes
Hyperbolic functions
Mechanical Engineering
Microelectromechanical systems
Neural networks
Original Paper
Output feedback
Parameter uncertainty
Saturation
Stability analysis
Tracking control
Tracking errors
Vibration
MEMS tracking control
Prescribed performance
Input compensation adjustment
Dynamic surface control method
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Summary:In this work, a fixed-time prescribed performance output feedback tracking control scheme is presented for Micro-Electro-Mechanical Systems (MEMS) gyroscope subjected to uncertain system parameters. To obtain the state information of MEMS gyroscope, a state observation system with neural network approximation technique is firstly constructed such that the observation error can converge to a small residual set, and the size of the residual set can be adjusted by the observer gain. On the basis of obtaining the estimated state, a novel preassigned time performance function and a dynamic auxiliary system with hyperbolic tangent function are introduced into the design of closed-loop system. By using the error coordinate transformation and backstepping design process, an anti-saturation control law is devised based on the Lyapunov stability analysis method. The proposed controller can ensure that all signals in the whole closed-loop system are bounded, and meanwhile the tracking errors are driven to a preassigned set in a fixed time. In the end, simulation results verify the effectiveness of the proposed method.
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ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-022-07814-8