Adaptive T-S fuzzy sliding mode control of MEMS gyroscope

In this paper, a MIMO Takagi-Sugeno (T-S) fuzzy model is built on the basis of the nonlinear model of micro-electro mechanical system (MEMS) gyroscope. A robust adaptive sliding mode control with on-line identification for the upper bounds of external disturbance and estimator for the model uncertainty parameters is proposed. Based on Lyapunov methods, these adaptive laws can guarantee that the system is asymptotically stable, and force the proof mass of the MEMS gyroscope to oscillate in the x and y direction at given frequency and amplitude. The controller is implemented on the nonlinear model of MEMS gyroscope at the same time. Numerical simulations are investigated to verify the effectiveness of the proposed control scheme on the T-S model and the nonlinear model.