title: Parameter estimation and interval type-2 fuzzy sliding mode control of a z-axis MEMS gyroscope.
abstract: This paper reports a hybrid intelligent controller for application in single axis MEMS vibratory gyroscopes. First, unknown parameters of a micro gyroscope including unknown time varying angular velocity are estimated online via normalized continuous time least mean squares algorithm. Then, an additional interval type-2 fuzzy sliding mode control is incorporated in order to match the resonant frequencies and to compensate for undesired mechanical couplings. The main advantage of this control strategy is its robustness to parameters uncertainty, external disturbance and measurement noise. Consistent estimation of parameters is guaranteed and stability of the closed-loop system is proved via the Lyapunov stability theorem. Finally, numerical simulation is done in order to validate the effectiveness of the proposed method, both for a constant and time-varying angular rate.
authors: Center of Excellence in Design, Robotics and Automation, Department of Mechanical Engineering, Sharif University of Technology, PO Box 11155-9567, Tehran, Iran. Electronic address: fazlyab@mech.sharif.edu.
authors: Mahyar
authors: M
authors: Fazlyab
authors: Maysam Zamani
authors: MZ
authors: Pedram
authors: Hassan
authors: H
authors: Salarieh
authors: Aria
authors: A
authors: Alasty
keywords: Interval type-2 fuzzy logic; Sliding mode control; The least mean squares algorithm; z-axis MEMS vibratory gyroscope