scholarly journals Design of an adaptive dynamic sliding mode control approach for robotic systems via uncertainty estimators with exponential convergence rate

2020 ◽  
Vol 2 (2) ◽  
Author(s):  
Mohammad Reza Shokoohinia ◽  
Mohammad Mehdi Fateh ◽  
Reza Gholipour
Keyword(s):  
Convergence Rate ◽  
Sliding Mode Control ◽  
Exponential Convergence ◽  
Sliding Mode ◽  
Robotic Systems ◽  
Control Approach ◽  
Adaptive Dynamic ◽  
Exponential Convergence Rate ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

scholarly journals Modelling, Simulation and Dynamic Sliding Mode Control of a MEMS Gyroscope

Micromachines ◽  
2021 ◽  
Vol 12 (2) ◽  
pp. 190
Author(s):  
Yunmei Fang ◽  
Wen Fu ◽  
Cuicui An ◽  
Zhuli Yuan ◽  
Juntao Fei
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Time Derivative ◽  
Control Variable ◽  
Sliding Mode Controller ◽  
Control Input ◽  
Adaptive Dynamic ◽  
Mode Control ◽  
Dynamic Sliding Mode Control ◽  
Dynamic Sliding Mode

An adaptive dynamic sliding mode control via a backstepping approach for a microelectro mechanical system (MEMS) vibratory z-axis gyroscope is presented in this paper. The time derivative of the control input of the dynamic sliding mode controller (DSMC) is treated as a new control variable for the augmented system which is composed of the original system and the integrator. This DSMC can transfer discontinuous terms to the first-order derivative of the control input, and effectively reduce the chattering. An adaptive dynamic sliding mode controller with the method of backstepping is derived to real-time estimate the angular velocity and the damping and stiffness coefficients and asymptotical stability of the designed systems can be guaranteed. Simulation examples are investigated to demonstrate the satisfactory performance of the proposed adaptive backstepping sliding mode control.

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