Adaptive Fuzzy Global Fast Terminal Sliding Mode Control for Microgyroscope System

Abstract

This paper mainly discusses an adaptive fuzzy sliding mode control problem for a microgyroscope system via a global fast terminal sliding mode approach. The fabrication imperfections, the time varying system parameters, and the external disturbances are taken into consideration synchronously, and the corresponding dynamic model is established. A global fast terminal sliding mode control scheme is designed to guarantee that the system can reach the sliding surface and converge to equilibrium point in a shorter finite time from any initial state surface. Furthermore, an adaptive fuzzy control is introduced to approximate the model uncertainties and external disturbances. The chattering caused by the sliding mode control is weakened as well. Both the stability analysis and the tracking performance of the gyroscope system are proved by the Lyapunov stability theory. The effectiveness of the invoked control schemes for microgyroscope system is illustrated through the simulation results.